[1]刘井海,张 磊*,李红兵,等.楼梯清洁机器人休息平台路径规划研究[J].江西师范大学学报(自然科学版),2022,(01):67-74.[doi:10.16357/j.cnki.issn1000-5862.2022.01.09]
　LIU Jinghai,ZHANG Lei*,LI Hongbing,et al.The Study on Path Planning of Stair Cleaning Robot Rest Platform[J].Journal of Jiangxi Normal University:Natural Science Edition,2022,(01):67-74.[doi:10.16357/j.cnki.issn1000-5862.2022.01.09]
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楼梯清洁机器人休息平台路径规划研究()
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《江西师范大学学报》（自然科学版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2022年01期
页码:
67-74
栏目:
信息科学与技术
出版日期:
2022-01-25

文章信息/Info

Title:
The Study on Path Planning of Stair Cleaning Robot Rest Platform
文章编号:
1000-5862(2022)01-0067-08
作者:
刘井海1; 张 磊1*; 李红兵2; 姚兴田1; 苏 雷1
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
Author(s):
LIU Jinghai1; ZHANG Lei1*; LI Hongbing2; YAO Xingtian1; SU Lei1
1.School of Mechanical Engineering,Nantong University,Nantong Jiangsu 226019,China; 2.Department of Instrument Science and Engineering,Shanghai Jiao Tong University,Shanghai 200240,China
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
Keywords:
stair cleaning robot;  path planning;  ploughing algorithm;  full area coverage;  platform transition
分类号:
TP 242
DOI:
10.16357/j.cnki.issn1000-5862.2022.01.09
文献标志码:
A
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.
Abstract:
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 angle θ and will reverse rotation angle θ until 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.

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相似文献/References:

[1]苏 雷,张 磊*,邵建根,等.楼梯清洁机器人的爬楼规划研究[J].江西师范大学学报(自然科学版),2023,(01):77.
　SU Lei,ZHANG Lei*,SHAO Jiangen,et al.The Stair Climbing Planning of Stair Cleaning Robot[J].Journal of Jiangxi Normal University:Natural Science Edition,2023,(01):77.

备注/Memo

备注/Memo:
收稿日期:2021-09-18
基金项目:国家自然科学基金(51505280)和上海市自然科学基金(18ZR1421300)资助项目.
通信作者:张 磊(1973—),男,江苏南通人,副教授,主要从事机电一体化、移动机器人路径规划研究.E-mail:zhangleint@ntu.edu.cn
更新日期/Last Update: 2022-01-25