Dynamic coverage path planning and obstacle avoidance for cleaning robot based on behavior

摘要

Complete coverage is widely applied in the real life, such as outdoor and indoor cleaning, mowing lawn, cleaning glass, and so on. The research goal of this paper is complete coverage path planning and avoidance obstacle based on behavior for indoor cleaning robot under dynamic environment. Behavior-based mobile robot control based on behavior is one new trend to study the navigation problem. Fuzzy control algorithm can simulate human intuition or experience to control a system without building a general sense of mathematics model, and has good robust and anti-interference ability. To implement the hybrid method of behavior-based and fuzzy control for coverage path planning and obstacle avoidance can be effective. Simulation results indicate that the hybrid method is feasible, and can realize coverage path planning and obstacle avoidance under dynamic environment.