基于骨架地图的全覆盖路径优化方法  

Optimization Method for Full Coverage Path Planning Based on Skeleton Map

作　　者：穆莉莉[1] 史程 王超 单卓佳 刘帅帅 Mu Lili;Shi Cheng;Wang Chao;Shan Zhuojia;Liu Shuaishuai(School of Mechanical Engineering,Anhui University of Technology,Huainan,Anhui 232000,China)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232000

出　　处：《黑龙江工业学院学报（综合版）》2023年第11期112-117,共6页Journal of Heilongjiang University of Technology(Comprehensive Edition)

基　　金：安徽省重点研发与开发计划项目(项目编号:202004a07020046)。

摘　　要：提出了一种基于骨架地图的全覆盖路径优化方法,旨在解决扫地机器人覆盖算法全局路径规划拐点较多、清洁率低等问题。该算法首先对激光雷达扫描得到的栅格地图进行处理,去除地图的细小噪点和离群点等干扰,接着抽取骨架生成骨架地图,再在该地图上进行路径规划。实验表明,在选用的实验环境下,路径的拐点数减少15.64%,实际清洁率提高至98%,从而降低了机器人实际工作的能耗。This paper proposes an optimization method for full coverage path planning based on skeleton map to solve the problem of excessive turning points and low cleaning rate in global path planning for cleaning robots.The algorithm first processes the grid map obtained by the laser scanner,removes interference such as small noise points and outliers,and then extracts the skeleton to generate a skeleton map for path planning.Experiments show that,in the experimental environment selected in this paper,the number of turning points of the path is reduced by 15.64%,and the actual cleaning rate is improved to 98%,thereby the energy consumption of the robot is reduced during actual work.

关 键 词：扫地机器人 全覆盖路径规划 地图优化 骨架地图 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]