清潔機器人之全域清潔路徑的規劃研究

隨著電腦技術及機器人學的發展，將移動機器人技術和吸塵器技術結合起來的自主清潔機器人，受到越來越多的關注。自主清潔機器人能夠實現室內地面的自動清潔，替代傳統繁重的人工清潔工作，涉及到了智慧移動機器人的多項關鍵技術。本文針對自主清潔機器人提出了基於網格地圖表示方法的內螺旋覆蓋演算法，透過邊界探索獲得環境邊界地圖，之後規劃覆蓋路徑。對部分網格的重複覆蓋和設置GATE網格，所提出的演算法保證完全覆蓋所有區域，而且也降低了重複覆蓋率，提高了工作效率。同時此演算法不用進行複雜的數學計算，因此演算法具有即時性，可降低對記憶體的需求。此演算法不進行整體空間的搜索，避免網格地圖規劃法常見的隨空間增大時，造成即時性急劇下降的缺陷。最後還在Windows平臺上，利用Matlab7.1進行了演算法的模擬，實現結果表明該演算法具有很好的實用性。

關鍵字

清潔機器人；內螺旋覆蓋；網格地圖；路徑規劃；全域覆蓋

並列摘要

With the computer technology and robotics’ development, cleaning robots have received more and more attention as the combinations of the technology of mobile robot and cleaner. Cleaning robot could clean room automatically and release human’s burden and include many key technologies of the intelligent robots. The coverage for the robot has been studied in the dissertation, and a grid-based internal spiral coverage algorithm that is grid-based is proposed in the paper. The algorithm realizes simply and has less repeat coverage which guarantees complete coverage. There are two stages in our algorithm, in the first stage the robot explores along the boundary of the environment. In the second stage the robot plans the coverage path. By repetitively covering some grids and setting the GATE grids, it not only guarantees the complete coverage, but also reduces the coverage repetition, thus improves the efficiency. Our proposed algorithm doesn’t search for the path in the whole region, there are no complex mathematical calculations in the path planning which can meet the requirement of real-time system. Our algorithm overcomes the shortcomings of the grid-based representation, that the real-time property will get sharp decline as the region enlarges. Finally, the simulation tests of algorithms have been made using the Matlab7.1 programming tool. The result of the simulation shows that this algorithm with excellent performance.