Survey on cleaning robot path planning algorithm

ZHAO Xiaodong, BAO Fang

(Institute of Information and Control, Hangzhou Dianzi University, Hangzhou 310018, China)

Abstract: Aiming at the current problems of cleaning robots′ inefficient cleaning, and the robots′ key technology that path planning used in the practical occasions is simple and weak, especially apparent deficiencies exist under the obstacle circumstances, the basic approaches and key process were proposed to ensure that cleaning tasks were completed, and the requirements of autonomous path planning and full regional coverage were achieved. Various technologies on environment modeling were emphatically analyzed, and path search algorithm applied in the environmental map was also discussed, then the advantages and disadvantages and application scope of different algorithms were analyzed by comparing through algorithm performance of coverage and repetition rate, in result, technical reference was provided for reasonable application, eventually, research direction of future cleaning robot was put forward. The results indicate that, according to the complexity of environment, it takes a different path planning algorithm to develop control scheme, but the integration of various algorithms can effectively improve the degree of environmental application and control system robustness.

Key words: cleaning robot; path planning; environment modeling; coverage rate; robustness