A Path Planning Strategy for Intelligent Sweeping Robots

Abstract

The path planning strategy and optimized algorithm of intelligent sweeping robot are researched in this paper. In order to achieve traversal cleaning indoor environment, a raster map is established firstly, and the inward spiral traversal method is designed for the sweeper. Then a scheme of the shortest path for out of the dead zone is proposed based on A* algorithm, due to the inward spiral traversal may fall into dead zone. Finally, the global traversal problem is considered, and the traversal cleaning task is realized by simulation. The results show that the proposed scheme and algorithm are effective.