Sensor-based complete coverage path planning in dynamic environment for cleaning robot

作     者：Hong Liu Jiayao Ma Weibo Huang Hong Liu;Jiayao Ma;Weibo Huang

作者机构：Human Robot Interaction Lab Shenzhen Graduate School Peking University Shenzhen 518055 People's Republic of China 

出 版 物：《CAAI Transactions on Intelligence Technology》 (智能技术学报（英文）)

年 卷 期：2018年第3卷第1期

页      面：65-72页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 080202[工学-机械电子工程] 081104[工学-模式识别与智能系统] 08[工学] 0804[工学-仪器科学与技术] 0835[工学-软件工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：This work was supported by the National Natural Science Foundation (NSFC  nos. 61340046  61673030  U1613209)  Natural Science Foundation of Guangdong Province (no. 2015A030311034)  Scientific Research Project of Guangdong Province (no. 2015B010919004)  Specialized Research Fund for Strategic and Prospective Industrial Development of Shenzhen City (no. ZLZBCXLJZI20160729020003)  Shenzhen Key Laboratory for Intelligent Multimedia and Virtual Reality (ZDSYS201703031405467) 

主　　题：路径规划 清洁机器人 人工智能 发展现状 

摘      要：Using Complete Coverage Path Planning （CCPP）, a cleaning robot could visit every accessible area in the workspace. The dynamic environment requires the higher computation of the CCPP algorithm because the path needs to be replanned when the path might become invalid. In previous CCPP methods, when the neighbours of the current position are obstacles or have been visited, it is challenging for the robot to escape from the deadlocks with the least extra time cost. In this study, a novel CCPP algorithm is proposed to deal with deadlock problems in a dynamic environment. A priority template inspired by the short memory model could reduce the number of deadlocks by giving the priority of directions. Simultaneously, a global backtracking mechanism guides the robot to move to the next unvisited area quickly, taking the use of the explored global environmental information. What＇s more, the authors extend their CCPP algorithm to a multi-robot system with a market-based bidding process which could deploy the coverage time. Experiments of apartment-like scenes show that the authors＇ proposed algorithm can guarantee an efficient collision-free coverage in dynamic environments. The proposed method performs better than related approaches on coverage rate and overlap length.