摘要
为了降低室内自主清扫机器人的成本,同时达到实用性强、可靠性高的要求,使清扫机器人真正走进家庭,提出一种基于红外传感器的清扫路径规划算法。首先,分析目前现有清扫机器人设计的关键技术和存在的问题;给出本文机器人软硬件结构、传感器布置;详细描述清扫路径规划算法,该算法弥补了少量传感器采集环境信息的不足,使机器人有效判断障碍,进行环境识别,很好地适应未知环境,并且提高了清扫效率和面积。
For reducing the cost and making it possible for the domestic automatic moving cleaning robot to enter ordinary family,a path planning algorithm was put forward based on the infrared sensors.The key technologies for cleaning robot design at present were discussed,the software and hardware structure of the robot were introduced,and the details of the algorithm were described.The algorithm offsets the disadvantage,the some sensors can only gain relatively little information from the environment.With the help of the algorithm,the cleaning robot can identify the indoor uncertain efficiently and achieves the high efficiency and large cleaning area.
出处
《机床与液压》
北大核心
2005年第7期84-86,共3页
Machine Tool & Hydraulics
关键词
移动机器人
路径规划
环境识别
Moving robot
Path planning
Environment identification
