楼梯清洁机器人休息平台路径规划研究  

The Study on Path Planning of Stair Cleaning Robot Rest Platform

作　　者：刘井海 张磊[1] 李红兵 姚兴田[1] 苏雷 LIU Jinghai;ZHANG Lei;LI Hongbing;YAO Xingtian;SU Lei(School of Mechanical Engineering,Nantong University,Nantong Jiangsu 226019,China;Department of Instrument Science and Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]南通大学机械工程学院,江苏南通226019 [2]上海交通大学仪器科学与工程系,上海200240

出　　处：《江西师范大学学报（自然科学版）》2022年第1期67-74,共8页Journal of Jiangxi Normal University(Natural Science Edition)

基　　金：国家自然科学基金(51505280);上海市自然科学基金(18ZR1421300)资助项目.

摘　　要：楼梯清洁机器人的工作不仅是楼梯清扫,而且还要完成休息平台的遍历.犁田算法可使楼梯清洁机器人以最短路径覆盖楼梯休息平台,但机器人长方形的壳体不利于转身运动,需要与障碍物留出更多的安全距离,导致清扫覆盖率下降.针对这一问题,该文提出了一种基于犁田算法的改进路径规划,使机器人按“N”字形行走:当机器人遇到障碍物时,旋转一个角度θ,直至机器人再次遇到障碍物时反向旋转θ角.仿真结果表明:改进路径规划可以提高覆盖率、降低机器人的工作时间和耗能.The task of stair cleaning robot is not only to clean the stairs,but also to complete the traversal of the rest platform.Ploughing algorithm can make the stair cleaning robot cover the stair rest platform with the shortest path,but the rectangular shell of the robot is not beneficial for rotational motion,thus it needs more safe distance,which leads to the decline of coverage.To solve this problem,the improved path planning based on ploughing algorithm is proposed.The scheme makes the robot walk in"N"shape.When the robot encounters an obstacle,the robot will rotate an angleθand will reverse rotation angleθuntil it encounters another obstacle.The simulation results show that the improved path planning can improve the coverage,reduce the working time and energy consumption of the robot.

关 键 词：楼梯清洁机器人 路径规划 犁田算法 全区域覆盖 平台过渡 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]