A CCPP algorithm based on the standard map for the mobile robot

摘要

This paper introduces a new integrated algorithm to achieve the complete coverage path planning (CCPP) task for the mobile robot in a given obstacles-included terrain. The algorithm combines the cellular decomposition approach and the chaotic Standard map together to design the coverage procedure. The cellular decomposition approach decompose the target region into several rectangular feasible sub-regions. Then the chaotic Standard map in the full mapping state produces the complete coverage trajectories inside the feasible sub-regions, and the connection trajectories between two adjacent feasible sub-regions. Compared with the general cellular decomposition method, the proposed integrated algorithm needs no designated start point and goal point to link two adjacent sub-regions. The planned trajectories demonstrate a good distribution characteristics with regard to completeness and evenness. No obstacles-avoidance method and boundaries detection are needed in the coverage procedure.