二次区域划分的全覆盖路径规划

作者：Jiang Lin; Zhang Yanfei; Ma Xianzhong; Zhu Jianyang; Lei Bin^*

来源：Harbin Gongcheng Daxue Xuebao/journal of Harbin Engineering University, 2022, 43(10): 1483-1490.

DOI：10.11990/jheu.202103004

• algorithm switching
• cell
• complete coverage
• evolution rule
• meshing
• occupying object
• path planning
• sub-area

To address the problems of high traversal overlap, path redundancy, and many turns in the existing full-coverage path planning algorithms, a full-coverage path planning algorithm based on secondary area division is proposed, which first judges whether occupying objects are present in the given environment map; divides the map by using the algorithm switching mechanism to obtain sub-areas; uses the principle of cellular automata to divide the sub-areas into quadrilateral meshes so as to divide the sub-areas again; and further defines the cell and adjacent cell collection model, formulates evolution rules, obtains the coverage path of the sub-areas, and establishes the adjacent path, thereby completing the planned path of the entire map. The feasibility and practicability of the algorithm are verified through multiple sets of experiments. ? 2022 Editorial Board of Journal of Harbin Engineering.

• 单位
  武汉科技大学