Improved Backtracking Spiral Method for Autonomous Operation of Indoor Cleaning Robots for Property
Aiming at the problems of low coverage and high repetition rate in cleaning operation of existing indoor clean-ing robots for property,an improved backtracking spiral method for autonomous operation of indoor cleaning robots for property was proposed.Effects of autonomous cleaning were improved according to internal information in the building provided by using the prior map to ensure full coverage while reduce the repetition rate.The improved backtracking spiral method included full coverage path planning and obstacle avoidance.The prior map was used to divide the region to be cleaned into multiple sub-regions.Spiral traversal was adopted in the single sub-region.On the basis of the backtracking mechanism and backtracking point screening,the sub-regions were connected.In the sub-regions,static and random obstacle avoidance strategies were used to avoid obstacles in real time to complete the autonomous operation task.The improved backtracking spiral method was simulated and verified in the robot operating system,and an actual test was carried out by using a prototype of indoor cleaning robot for property.The results show that compared with the basic backtracking method,the improved backtracking spiral method can simplify numbers of backtracking points by 50％,and effectively reduce the repetition rate and coverage time.The obstacle avoidance strategies can make indoor cleaning robots for pro-perty avoid obstacles flexibly.The improved backtracking spiral method is simple and easy to generate trajectories with low repetition rate,which can realize effective autonomous operation of indoor cleaning robots for property.
万方数据
维普
