Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Computer Engineering and Design》 2010-01
Add to Favorite Get Latest Update

Complete coverage path planning method for mobile robots in unknown environments

GUO Xiao-qin(College of Mechatronics and Control Engineering,Shenzhen University,Shenzhen 518060,China)  
A new complete coverage path planning algorithm based on rolling path planning and dynamic heuristic searching is proposed to improve efficiency of path planning for mobile robot in unknown environments.The biological inspired neural network is used to model the environment of mobile robot.After the characteristic of local environment around the robot is identified on line,the dynamic heuristic planning method combing static searching and following the boundary of obstacle is applied and generated path is much shorter and less turning.Using virtual obstacle and directly filling algorithm,the continuously covered area in U shape obstacle is obtained in unknown environments.The effectiveness of the proposed algorithm is validated by simulation in unknown complicated environments.
【Fund】: 广东省科技计划基金项目(2007B010200040);; 广东省产学研合作基金项目(2007B090400056)
【CateGory Index】: TP242
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
【Citations】
Chinese Journal Full-text Database 3 Hits
1 QIU Xue-na~(1,2),LIU Shi-rong~1,SONG Jia-tao~2,Simon X.YANG~3(1.Research Institute of Automation,Hangzhou Dianzi University,Hangzhou 310018,China;2.College of Electronic and Computer Information Engineering,Ningbo University of Technology,Ningbo 315016,China;3.School of Engineering,University of Guelph,Guelph NG1 2W1,Canada);A Complete Coverage Path Planning Method for Mobile Robots in Uncertain Dynamic Environments[J];Robot;2006-06
2 HAO Zong-bo,HONG Bing-rong,HUANG Qing-cheng(School of Computer Science & Technology,Harbin Institute of Technology,Harbin 150001,China);Study of coverage path planning based on grid-map[J];Application Research of Computers;2007-10
3 CAI Xiaohui,LI Yanjun,WU Tiejun(State Key Lab.of Industrial Control Technology,Institute of Intelligent Systems & Decision Making,Zhejiang University,Hangzhou 310027,China);Dynamic Path Planning of Mobile Robots in Uncertain Environments Based on PSO and Receding Horizon Optimization[J];Bulletin of Science and Technology;2008-02
【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 LEI Yan-min1,2,FENG Zhi-bin3(1.College of Automation,Harbin Engineering University,Harbin 150001,China;2.College of Eletronic Information Engineering,Changchun University,Changchun 130022,China;3.Aviation Lifesaving Department,Air Force Aviation University,Changchun 130021,China);The application of the improved potential grid method in robot path planning[J];Journal of Changchun University;2009-02
2 DUAN Qun-jie~(1,2),ZHANG Ming-jun~1,L Chao~3(1.College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China;2.College of Mechanical Engineering Jiamusi University,Jiamusi 154007,China;3.College of Municipal and Environmental Engineering,Harbin Institute of Technology,Harbin 150090,China);Rolling path planning for underwater robot based on sensor information[J];Transducer and Microsystem Technologies;2006-09
3 LUO Sheng(School of Mechanical & Electrical Engineering,Wenzhou University,Wenzhou 325035,China);Status of cleaning robots and some key technologies of its intelligent system[J];Transducer and Microsystem Technologies;2007-11
4 XIN Jiang-hui,LI Shun-ming,LIAO Qing-bin(College of Energy and Power Engineering,Nanjing University of Aeronautics andAstronautics,Nanjing 210016,China);Review on autonomous mobile robots navigation based on sensors information[J];Transducer and Microsystem Technologies;2008-04
5 XU Shou-jiang(Jiangsu Food Science College,Huai'an 223003,China);Ant Algorithm for Mobile Robot Path Plan with Multi-objects in an Unfamiliar Environment[J];Computer Knowledge and Technology;2008-32
6 Zhang Chungang, Xi Yugeng (Institute of Automation, Shanghai Jiaotong University, Shanghai 200030);Algorithm and Simulation of Robot Rolling Path Planning[J];High Technology Letters;2003-04
7 SUN Zi-guang~a,WANG Qin~b(a.Department of Computer Engineering,b.Department of Mechanical Engineering,Guangxi University of Technology,Liuzhou 545006,China);A Cleaning Robot System Based on PIC Micro-controllor[J];Journal of Guangxi University of Technology;2009-02
8 BAO Qing-yong,LI Shun-ming,SHEN Huan,MEN Xiu-hua(Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China);Survey of local path planning of autonomous mobile robot[J];Transducer and Microsystem Technologies;2009-09
9 ZHAO Jie,PANG Ming,FAN Ji-zhuang(Robotics Institute,Harbin Institute of Technology,Harbin 150080,China);3D motion planning of a three-limbed robot for intelligent space[J];Journal of Harbin Engineering University;2007-03
10 WANG Qiang~(1,2), YAO Jin~(2), WANG Jin-ge~1(1. College of Mechanical Engineering and Automation, Xihua University, Chengdu 610039,China;2. College of Manufacturing Science and Engineering, Sichuan University, Chengdu 610065,China);Passing-ball route searching of soccer robots based on rolling window[J];Journal of Harbin Institute of Technology;2005-07
China Proceedings of conference Full-text Database 5 Hits
1 WANG Jing-hua, CUI Shi-gang (Department of Automation Tianjin University of Technology and Education, Tianjin, China, 300222);PATH PLANNING FOR MOBILE ROBOT OF RANDOM MOVING OBSTACLES[A];[C];2004
2 YANG Yi-peng, LI Shao-yuan (Shanghai Jiao Tong University, Shanghai 200030);Visual robot path planning based on satisfying optimization[A];[C];2002
3 Wang Jing-hua Cui Shi-gang Luo Yun-Lin (1.Automation and Electrical Engineering College,Tianjin U niversity of Technology and Education,Tianjin,30022) (2.Aerontatical Automation College,Civil Aviation University of China,Tianjin,300300);Simulation of a Comprehensive Path Planning for Intelligent Tobot Based on Matlab[A];[C];2008
4 Zhang Chungang Xi Yugeng (Automation Institute of Shanghai Jiaotong University, Shanghai, 200030);Rolling Path Planning and Safety Analysis of Mobile Robot in Dynamic Unknown Environment[A];[C];2001
5 WANG Jing-hua, CUI Shi-gang (Department of Automation Tianjin University of Technology and Education, Tianjin, China, 300222);PATH PLANNING FOR MOBILE ROBOT OF RANDOM MOVING OBSTACLES[A];[C];2004
【Secondary Citations】
Chinese Journal Full-text Database 5 Hits
1 Chen Hua-zhi Xie Cun-xi Zeng De-huai (College of Mechanical Engineering, South China Univ. of Tech. , Guangzhou 510640,China);Simulation of a Neural Network-based Path Planning Algorithm for Mobile Robot[J];Journal of South China University of Technology(Natural Science);2003-06
2 LIU Guo-dong, XIE Hong-bin, LI Chun-guang (School of Communication and Control Engineering, Southern Yangze University, Wuxi 214036, China);METHOD OF MOBILE ROBOT PATH PLANNING IN DYNAMIC ENVIRONMENT BASED ON GENETIC ALGORITHM[J];Robot;2003-04
3 XI Yugeng (Institute of Automation,Shanghai Jiaotong University·Shanghai,200030,P.R.China);Predictive Control of General Control Problems under Dynamic Uncertain Environment[J];CONTROL THEORY & APPLICATIONS;2000-05
4 XIE Xiao-feng, ZHANG Wen-jun, YANG Zhi-lian(Institute of Microelectronics, Tsinghua University, Beijing 100084, China);Overview of particle swarm optimization[J];Control and Decision;2003-02
5 WU Hu, Li Shao-yuan (Institute of Automation, Shanghai Jiao Tong University, Shanghai 200030, China);Receding Horizon Optimization under Local Environment for Robot Path Planning[J];Acta Simulata Systematica Sinica;2004-08
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved