Complete coverage path planning for road cleaning robot

摘要

This paper introduces the principle of biologically inspired neural network and analyzes the deficiency of this algorithm. Then, the road edge recognition algorithm and both static and moving obstacles detection method are described. On the basis of comparing the differences between indoor full coverage cleaning and outdoor, some improved full coverage path planning methods based on biologically inspired neural network and a novel concept of ¿fictitious frontier¿ are proposed. Finally, the computer simulation and cleaning experiments are conducted, and the results show the proposed improved method to be effective.