An Improved Complete Path Planning Algorithm

Abstract

Abstract: Complete coverage path planning is widely used in real life. This paper improves the Internal Spiral Coverage algorithm that is one of the existing full coverage path planning algorithms. And the PISC algorithm with priority is proposed. It adds the walking priority to Internal Spiral Coverage algorithm, uses backtracking to solve the dead problem of cleaning robot, so as to optimize robots cleaning path. Finally, simulation experiments under Visual C+〖KG-*3〗+ 6.0 programming environment show this algorithm enables the cleaning robot to avoid obstacles effectively and smoothly walk in free area, so as to improve the cleaning efficiency of cleaning robot and reduce the repeat paths of cleaning robot.

Key words: complete coverage path planning, internal spiral coverage, walking priority, backtracking

LI Shu-xia, YANG Jun-cheng, . An Improved Complete Path Planning Algorithm[J]. Computer and Modernization, 2021, 0(02): 100-103.

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