Design method of patrol robot full-coverage traversal path planning algorithm

Abstract

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.

Description

technical field [0001] The invention relates to a path planning method for a mobile robot, in particular to a design method for a full-coverage traversal path planning algorithm for a patrol robot, and belongs to the technical field of robot path planning. Background technique [0002] Robots are an essential part of smart cities. In addition to personal application robots such as sweeping robots and companion robots, public service robots such as security, rescue, medical care, and logistics distribution will directly participate in the management and operation of smart cities. Among them, security robots, represented by patrol robots, have shown great potential and space for development. Patrol robots have been used in indoor and outdoor conditions such as smart factories and warehouses. They are used in unmanned or few-person scenarios, assisting and partially replacing humans to complete repetitive, high-risk, and difficult-to-achieve security patrol work. [0003] At ...

AI Technical Summary

Problems solved by technology

However, they all have the following problems: (1) the inspection line is single, the inspection is not flexible, and the function is single; (2) they do not have the ability to plan paths independently, which is far from the goal of replacing manual patrols

The planned traversal path can meet the requirements of special tasks such as patrolling, but the execution efficiency is low. In the environment with obstacles, the mirror mapping obstacle avoidance method is mostly used, which changes the chaotic characteristics of the system and is not conducive to the requirements of special tasks.

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