YIN Li-wei, MEI Zhi-qian, XIE Bao-chun, LI Xiang-guo

(College of Mechanical and Electrical Engineering, HoHai University, Changzhou 213022, China)

 

Abstract: Aiming at the problems that the cleaning robots′ path planning algorithm is difficult to apply into practice, despite theory of cleaning robots′ path planning algorithm is rich enough, a relative positioning mathematical model of the cleaning robots was established, the circuitous path planning, the homocentric squares path planning, the bracket path planning and the heuristic path planning algorithm were used, and the implementation of the path planning algorithm was analyzed in detail. Then these path planning algorithms were simulated with microsoft robotics development studio (MRDS) in visual program language (VPL). The data from the laser range finder of the heuristic path planning was processed, the turning angle of different path planning algorithms during the same time was set to the standard, and the advantages and disadvantages of these path planning algorithms were compared. The results indicate that the heuristic path planning can choose optimum path planning based on the environment information, and the turning angle of the heuristic path planning turns out to be the least, which is better to be generalized than other algorithms.

Key words: microsoft robotics development studio(MRDS); turning angle; heuristic path planning algorithm; laser range finder; visual programming language(VPL)