Research on Full Traversal Path Planning based on Improved Reciprocating Algorithm

Abstract

In recent years, sweeping machines, as one of the household products in artificial intelligence applications, have continuously impacted our lives. However, there are common problems such as incomplete cleaning caused by defective path design and difficulty in escape from the “dead point” which leads to low work efficiency, such as traditional reciprocating cleaning algorithms. As a practical intelligent sweeping robot, it not only completes the most basic obstacle avoidance and sweeping tasks, but also needs to achieve the effect of rapid and full coverage of the cleaning area without dead ends, and comprehensively improve work efficiency. In response to these shortcomings of the traditional reciprocating method, this topic proposes a combination of an improved reciprocating full traversal path planning algorithm and the A <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> algorithm, and the effectiveness of the improved algorithm in the path planning of the sweeping robot is verified through Matlab simulation experiments.