Research on Full Coverage Path Planning Algorithm of Mobile Robot Based on Astar Improved Algorithm

Abstract

In order to solve the problems that most robots have in full coverage path planning in the working area, including unreasonable moving paths, long exploration time, and disorderly planning routes in obstacle areas. This paper improves the Astar algorithm and studies a full coverage path planning algorithm for mobile robot path planning. This improved algorithm enables the robot to construct a map in a certain closed area, and use the constructed map to scan the closed space, so that the robot has the ability of autonomous path planning and realizes autonomous navigation and motion control. This algorithm is transplanted into a mobile robot control system, and an experimental study is carried out on this algorithm. Experiments show that the algorithm is stable in time and has strong robustness. Comparing the map established by the robot with the actual experimental area, it is found that the algorithm has a high coverage rate and strong practicability. In addition, a remote video transmission function system is integrated on the mobile robot, and experimental tests such as remote video transmission, robot image recognition and automatic tracking have been carried out, and good results have been achieved.