The invention discloses a design method of a patrol
robot full-coverage traversal path planning
algorithm. The method includes the following steps that: a one-dimensional Chebychev mapping is selectedas a
chaotic dynamic equation, and inverse sine transformation is utilized to improve the
chaotic characteristic and uniform characteristic of the
chaotic dynamic equation; two inverse sine-improvedone-dimensional Chebychev mapping equations are adopted to construct a two-dimensional chaotic path planner; the patrol area of a
robot is decomposed into traversable sub-regions and obstacle regions;transition sub-regions re established, and a transition
algorithm is designed; the traversable sub-regions in the patrol area are connected to form a traversal
sequence diagram; the patrol
robot full-coverage traversal path planning
algorithm is designed according to the traversal
sequence diagram and the transition algorithm, and the patrol robot full-coverage traversal path planning algorithm can be used for completing a patrol task. The algorithm of the invention has the advantages of simplicity, low repetition rate and
high coverage rate, and can ensure the randomness and unpredictabilityof the patrol task while ensuring
full coverage of the patrol area.