Mobile Robot Complete Converge Path Planning Based on BINN-Cellular Automata System
In order to realize the full coverage of the robot working area,a path planning method based on biological excitation neural network cellular automata system is proposed.This paper introduces the basic principle of the biological excitation neural network algorithm,and analyzes the problem that the algorithm cannot escape when the robot falls into the dead zone.Based on cellular automata system,the escape mechanism of robot is designed,including the determination of escape point and the plan-ning method of escape path.In the simulation environment,the escape mechanism of cellular system is compared with basic RRT and BINN-RRTescaping mechanism in reference[10].The results show that the planning time of escape mechanism of cellular sys-tem is two orders of magnitude less than basic RRT and one order of magnitude less than BINN-RRT,and the escape path is shorter than the other two methods,which verifies the effectiveness and superiority of escape mechanism of cellular system.The full coverage path based on BINN and cellular system is smoother than that based on BINN-RRT,which verifies the superiority and effectiveness of the full coverage method.
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