移动机器人的全区域覆盖算法的研究

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1、ABSTRACrThisdissertationwassupportedinpartbytheNationalNamrflScienceFoundationofChinaunderGIant60234030andinpartbytheNationalBasicScienti矗cResearchFoundsanderGrantA1420060159．Asapartoftheabove—mentionedprojects，thisdissertationpresentscompletecoveragealgorit

2、hmsforsinglerobotandmulti—robotsunderunknownstaticareasrespectively．Thealgorithmsenablemobilerobotstotraversetheirsurroundingreliablyande伍ciently,andenabletherobotstoaccomplishtheifrelevantmissions．Accordingtothetargets，thefollowingresearchesarecarriedout：(1

3、)Weproposeanewcompletecoveragealgorithm-improvedAcaralgorithm．weobtainthewalkmgdirectionofthemobilerobotaccordingtothechangesinitspositionandwecandetectthecriticalpointsoftheobstaclesonthebasisofthechangesofitsdirectionwhenitwalksalongtheborderoftheobstacle．

4、So，ourmethodoutpefformstheAcaralgorithm,whichneedsomni．directionalsensorsandCanonlydealwithobstacleswithsmoothboundaryandtheslicecan’tparalleltotheborderoftheobstacle．(2)neexperimentsonMORCS一1，whichismadebytheIntelligentControlResearchInstitutea锄iatedwithCen

5、tralSouthUniversity,validatethefeasibilityandcolTectnessofthealgorithm．Theexperimentalresultsarealsoanalyzedindetail．(3)Toovercomethelimitsledbythecompletecoveragecardedoutbyasinglerobot，weproposeacompletealgorithmformulti-robots．Thealgorithmisbasedonthealgo

6、rithmofRekleitisIandwasintegratedwiththenewcompletecoveragealgorithm—improvedAcaralgorithm．Boththewalkingdirectionchangesofthetwoexploratoryrobotsandthediscontinuityoftheinterruptionoftheline．of-sightbetweenthemareusedtodetectthecriticalpointsoftheobstacles．

7、Wedesignthewalkingrulefortwoexploratoryrobotstokeepline—of-sightwhenwalkingalongtheborder．Wealsodesigntheruletorecoverline。of-sightofthetwoexploratoryrobotswhenthevisibilityisbrokenandtheruletoensurethecircularcoverageoftheneighboringareasoftheobstacles．thea

8、lgorithmIlcanapplytobothfastenvironmentalexplorationandefficientcompletecoverage．(4)Ourcompletecoveragealgorithmsforasinglerobotandmulti—robotsdon’ttakereebgraphtodenotetheconnectionrelationship