针对目前室内扫地机器人大多采用随机式或者规划式清扫方式,会造成重复率高、覆盖率低及清扫时间长等问题,提出了一种沿边学习、子区域划分和局部地图创建、沿边向中扩展清扫循环的全遍历路径规划方法.机器人通过传感器沿第一条边学习周围环境,学习结束后划分子区域并建立局部地图;以子区域边界点为起点沿边向中扩展遍历清扫子区域;完成子区域清扫后以遍历终点为起点进行第二条边学习,直到完成整个环境区域的清扫.实验验证方法覆盖率提高了4%~8%,清扫时间缩短了2~7 min,且成本低、方法简单易行,具有一定的应用价值.%Aiming at problem that most of indoor cleaning robots adopt random or planning type cleaning methods,which can cause high repetition rate,low coverage rate and long cleaning time,present a method of complete coverage path planning based on circulation of border learning,sub-areas division and local map building,and along the border to expand cleaning.The robot study surrounding environment along the first edge by sensors,and sub-area is divided and local map is built up and the sub-area is traversed to clean. To traverse destination as a starting point for second edge learning,and until the entire environmental area is cleaned.The method is tested in the experimental environment,the result shows that the coverage is improved by 4%~8% and the cleaning time is shortened 2~7 min.It has advantage of low cost,simple and easy operation.The method has certain application value.
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