In:
Applied Sciences, MDPI AG, Vol. 10, No. 1 ( 2019-12-31), p. 305-
Abstract:
A re-entry path planning method in omitting areas for service robots is suggested based on dynamic Inver-Over evolutionary algorithms after the robot automatically avoids obstacles. The complete coverage path planning is researched for cleaning service robots. Combined with features of dynamic travelling salesmen problem (DTSP), a local operator is employed for the path planning to enhance real-time dynamic properties of the Inver-Over algorithm. The method addresses the path planning problem that a number of cells undergo dynamic changes over time under work environment of cleaning robots. With simulations and experiments performed, it is discovered that the average relative error is 2.2% between the re-entry path planning and the best path, which validates the effectiveness and feasibility of the method.
Type of Medium:
Online Resource
ISSN:
2076-3417
Language:
English
Publisher:
MDPI AG
Publication Date:
2019
detail.hit.zdb_id:
2704225-X