特殊任务下基于Arnold系统的移动机器人全覆盖路径规划

李彩虹; 方春; 王凤英; 夏斌; 宋勇

doi:10.1631/FITEE.1800616

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特殊任务下基于Arnold系统的移动机器人全覆盖路径规划

常规文章 | Updated：2022-05-19

- 特殊任务下基于Arnold系统的移动机器人全覆盖路径规划
- Complete coverage path planning for an Arnold system based mobile robot to perform specific types of missions
- 信息与电子工程前沿（英文） 2019年20卷第11期页码：1530-1542
- Affiliations：
  
  College of Computer Science and Technology, Shandong University of Technology, Zibo 255000, China
  School of Mechanical, Electrical & Information Engineering, Shandong University, Weihai 264209, China
- Author bio：
  
  Cai-hong LI, E-mail: lich@sdut.edu.cn
- Funds：
  
  Project supported by the National Natural Science Foundation of China (Nos. 61473179, 61602280, and 61573213), the Natural Science Foundation of Shandong Province, China (Nos. ZR2017MF047, ZR2015CM016, and ZR2014FM007), and the Shandong University of Technology & Zibo City Integration Development Project, China (No. 2018ZBXC295)
- DOI：10.1631/FITEE.1800616
  中图分类号： TP242.6
- 收稿：2018-10-14，
  
  修回：2019-;9-;4，
  
  纸质出版：2019-11
- Accepted：
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李彩虹, 方春, 王凤英, 等. 特殊任务下基于Arnold系统的移动机器人全覆盖路径规划[J]. 信息与电子工程前沿（英文）, 2019,20(11):1530-1542.

LI Cai-hong, FANG Chun, WANG Feng-ying, et al. Complete coverage path planning for an Arnold system based mobile robot to perform specific types of missions[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(11): 1530-1542.
李彩虹, 方春, 王凤英, 等. 特殊任务下基于Arnold系统的移动机器人全覆盖路径规划[J]. 信息与电子工程前沿（英文）, 2019,20(11):1530-1542. DOI： 10.1631/FITEE.1800616.

LI Cai-hong, FANG Chun, WANG Feng-ying, et al. Complete coverage path planning for an Arnold system based mobile robot to perform specific types of missions[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(11): 1530-1542. DOI： 10.1631/FITEE.1800616.

摘要

基于Arnold动力学系统，提出一种压缩变换方法进行特殊任务下的移动机器人全覆盖路径规划。首先，将Arnold系统中的z变量与机器人运动学方程结合，构造混沌机器人。其次，利用混沌机器人中能够产生较高覆盖率的初始值构造候选集。然后，根据设计的收缩变换方法将轨迹收缩到机器人当前位置，形成连续全覆盖轨迹，以执行特殊任务。与传统方法相比，该算法不需要对给定工作场所的边界进行避障，具有较高覆盖率，且产生的覆盖轨迹混沌特性基本不变，使机器人能够以全覆盖、随机或不可预测的规划路径完成特殊任务。

Abstract

We propose a contraction transformation algorithm to plan a complete coverage trajectory for a mobile robot to accomplish specific types of missions based on the Arnold dynamical system. First

we construct a chaotic mobile robot by combining the variable z of the Arnold equation and the kinematic equation of the robot. Second

we construct the candidate sets including the initial points with a relatively high coverage rate of the constructed mobile robot. Then the trajectory is contracted to the current position of the robot based on the designed contraction transformation strategy

to form a continuous complete coverage trajectory to execute the specific types of missions. Compared with the traditional method

the designed algorithm requires no obstacle avoidance to the boundary of the given workplace

possesses a high coverage rate

and keeps the chaotic characteristics of the produced coverage trajectory relatively unchanged

which enables the robot to accomplish special missions with features of completeness

randomness

or unpredictability.

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