Complete Coverage Path Planning for Intelligent Sweeping Robot

As a universal optimization problem in automatic control, complete coverage path planning is one of the useful functions for intelligent sweeping robot, which makes sweeping robot complete sweeping more quickly and efficiently. Though conventional unit decomposition method has got solution, excessive decomposition for complex concave polygon environment and ignoring turning degrade the optimization effect. Considering the practical application of sweeping robot, improvements in three aspects are proposed that the cost function is added with the cost of turning, concave areas which can be combined planning with adjacent area are retained no decomposition, and global planning of unit path with transfer between units are considered by exhaustive search and ant colony algorithm, which can be applied to whole complex environment with better performance. Simulation experimental results show that the proposed approach can effectively reduce turning and total cost, make sweeping robot complete coverage more effectively.