| 基于蚁群系统算法的地图全遍历路径规划 |
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| 引用本文： | 黄家豪,郝润科,吕刚震.基于蚁群系统算法的地图全遍历路径规划[J].教育技术导刊,2020,19(7):41-45. |
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| 作者姓名： | 黄家豪 郝润科 吕刚震 |
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| 作者单位： | 上海理工大学 机械工程学院，上海 200093 |
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| 摘 要： | 清扫机器人进行全遍历路径规划要求机器人能够遍历环境中所有的可清扫区域，因此提出一种基于蚁群系统算法的地图全遍历路径规划算法。使用搭载单线激光雷达传感器的机器人进行环境建图，对每个栅格赋予不同概率值反映环境状态信息；采用 Boustrophedon 细胞分解方法将栅格地图划分为若干相邻子模块，并让机器人从起始点开始遍历所有子模块后再回到起始位姿。为了提高各子模块之间的衔接效率，引入蚁群系统算法实现机器人在到达每个子模块的起始位姿后，对每个子模块进行高效的区域全覆盖。实验结果表明，该算法相比传统生成树算法，清扫覆盖率达到了 96%，清扫效率提高了两倍。
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| 关 键 词： | 全遍历路径规划 清扫机器人 栅格地图 蚁群系统算法 Boustrophedon 细胞分解 |
| 收稿时间： | 2019-09-10 |
Map Full Traversal Path Planning Based on Ant Colony System Algorithm |
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| Huang Jia-hao,HAO Run-ke,LV Gang-zhen.Map Full Traversal Path Planning Based on Ant Colony System Algorithm[J].Introduction of Educational Technology,2020,19(7):41-45. |
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| Authors: | Huang Jia-hao HAO Run-ke LV Gang-zhen |
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| Institution: | School of Mechanical Engineering，University of Shanghai for Science and Technology，Shanghai 200093，China |
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| Abstract: | The full traversal path planning of the cleaning robot requires the robot to traverse all the cleanable areas in the environment. This paper proposes an algorithm for map full traversal path planning based on ant colony system algorithm. The robot is equipped with a single-line lidar sensor for environmental mapping. Each grid gives different probability values to reflect the state information of the environment. The Boustrophedon celluar decomposition method is used to divide the grid map into several adjacent sub-modules. And the robot traverses all submodules from the starting point and then return to their starting pose. In order to improve the connection efficiency between the various sub-modules，an ant colony system algorithm is introduced to realize that after the robot reaches the starting position of each sub-module，it covers the entire area of each sub-module efficiently. The experimental results show that compared with the traditional spanning tree algorithm，the proposed algorithm has a cleaning coverage rate of 96% and the cleaning efficiency is doubled. |
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| Keywords: | full traversal path planning cleaning robot grid map ant colony system algorithm Boustrophedon cell decomposition |
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