一种改进的全覆盖路径规划算法  

An Improved Complete Path Planning Algorithm

作　　者：李淑霞[1] 杨俊成[1,2] LI Shu-xia;YANG Jun-cheng(School of Electronic Information Engineering,Henan Polytechnic Institute,Nanyang 473000,China;School of Computer,Wuhan University,Wuhan 430072,China)

机构地区：[1]河南工业职业技术学院电子信息工程学院,河南南阳473000 [2]武汉大学计算机学院,湖北武汉430072

出　　处：《计算机与现代化》2021年第2期100-103,116,共5页Computer and Modernization

基　　金：河南省高等学校青年骨干教师培养计划基金资助项目(2018GGJS230)。

摘　　要：全覆盖路径规划在现实生活中具有很广泛的应用,本文针对已存在的全覆盖路径规划算法中的内螺旋算法进行改进,提出带有优先级的内螺旋算法PISC算法。在算法中加入行走优先级,并采用回溯法解决清扫机器人进入的死角问题,优化机器人的清扫路径,最后在Visual C++6.0编程环境下进行算法仿真。实验结果表明,清扫机器人能有效地避开障碍物,在自由区域顺利行走,提高了清扫机器人的清扫效率,减少了机器人清扫的重复路径。Complete coverage path planning is widely used in real life.This paper improves the Internal Spiral Coverage algorithm that is one of the existing full coverage path planning algorithms.And the PISC algorithm with priority is proposed.It adds the walking priority to Internal Spiral Coverage algorithm,uses backtracking to solve the dead problem of cleaning robot,so as to optimize robot’s cleaning path.Finally,simulation experiments under Visual C++6.0 programming environment show this algorithm enables the cleaning robot to avoid obstacles effectively and smoothly walk in free area,so as to improve the cleaning efficiency of cleaning robot and reduce the repeat paths of cleaning robot.

关 键 词：全覆盖路径规划 内螺旋 行走优先级 回溯法 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]