油罐清洗机器人全覆盖遍历路径规划方法  

A Full Coverage Traversed Path Planning of Oil Tank Cleaning Robot

作　　者：周利坤[1] 李悦[1] 

机构地区：[1]武警后勤学院军交运输系,天津300162

出　　处：《机械设计与制造》2014年第7期175-178,共4页Machinery Design & Manufacture

基　　金：陕西省重点学科建设专项资金资助项目(102-00x903)

摘　　要：油罐清洗机器人全覆盖遍历路径规划要求机器人以尽可能低的重复率遍历油罐底部的全部无障碍油泥区。提出一种非结构化环境下油罐清洗机器人的高效全覆盖路径规划算法:首先采用区域分割法进行工作环境的建模,其次油罐清洗机器人采取内螺旋算法从起始点进行单个油泥区覆盖,最后以图的深度优先搜索算法和邻接矩阵确定这些油泥区的衔接顺序和最短路径,进行所有油泥区的遍历。算法在虚拟环境中进行了仿真实验,并利用实验结果和评价指标评估了其可行性和有效性。The complete coverage path planning of oil tank cleaning robot requests that the robot at low repeat travels through all oily sludge without obstacles. Article puts forward an efficient complete coverage path planning algorithm of oil tank cleaning robot. Firstly, using graph search algorithm to build the working environment model. Secondly, the robot from starting point covers single oily sludge using internal spiral algorithm Last, connection turn and shortest path are confirmed based on graph theory prior search algorithm and adjacency matrix, and the robot travels through all oily sludge. Simulation of the algorithm is done in the virtual environment. The result and index estimate the feasibility and efficiency.

关 键 词：全覆盖路径规划 区域分割 内螺旋算法 图搜索 邻接矩阵 

分 类 号：TH16[机械工程—机械制造及自动化]