CN111307156A - Coverage path planning method suitable for vehicle-shaped robot - Google Patents
Coverage path planning method suitable for vehicle-shaped robot Download PDFInfo
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Abstract
The invention discloses a coverage path planning method suitable for a vehicle-type robot, which comprises the following steps: (1) selecting an area to be cleaned, and dividing the area to be cleaned into a plurality of convex polygons; (2) executing the zigzag path planning in each convex polygon to obtain a first planned path; (3) in every two adjacent convex polygons, planning and connecting the end point of the first planned path in one of the two convex polygons and the start point of the first planned path in the other convex polygon to obtain a second planned path between the end point and the start point; (4) and respectively carrying out sectional fitting on the first planned path in each convex polygon and the second planned path between every two adjacent convex polygons to obtain the smoothly connected coverage path. The planning method takes the motion constraint of the vehicle-shaped robot into consideration, reduces the times of turning around and turning as much as possible, and increases the coverage traversing efficiency of the vehicle-shaped robot.
Description
Technical Field
The invention relates to the field of automatic cleaning, in particular to a covering path planning method suitable for a vehicle-shaped robot.
Background
In the field of automatic cleaning application, indoor unmanned floor sweeping/cleaning machines are favored by a lot of large-scale indoor scene sanitation demanders due to high-efficiency cleaning efficiency and high-automation operation modes. However, most of the existing floor sweeping/washing robot products are oriented to small indoor scenes, and end users mainly use families, so that the robot models selected by the end users mainly use disc-type small robots. In fact, in a larger venue such as an airport, a high-speed rail station, a stadium and the like, the robot has the problems of low cleaning efficiency and insufficient cleaning capability, so that a vehicle-type robot with stronger cleaning capability is required to be used for overcoming the defects of a disc-type robot for the scenes.
In the cleaning process of the cleaning robot, the coverage path planning is an indispensable step, and the coverage path planning can guide the robot to complete the traversal sweeping of the whole room. For a disk-type robot with more flexible motion control, the cleaning efficiency of the algorithm can be reflected only by considering the coverage rate and the coverage path length. However, since the car-shaped robot has a large volume and is constrained by mechanical motion conditions, the turning and turning of the car-shaped robot is not as flexible as the circular disc-shaped robot, and therefore, the coverage path planning of the circular disc-shaped robot cannot be directly applied to the car-shaped robot, which requires redesigning a coverage path planning method for the car-shaped robot.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a coverage path planning method suitable for a vehicle-type robot.
In order to achieve the purpose, the invention adopts the technical scheme that:
an overlay path planning method for a vehicle-type robot, the planning method comprising the steps of:
(1) selecting an area to be cleaned, and dividing the area to be cleaned into a plurality of convex polygons;
(2) executing a square-shaped path planning in each convex polygon to obtain a first planning path of the square shape;
(3) in every two adjacent convex polygons, planning and connecting an end point of the first planned path in one of the two convex polygons with a start point of the first planned path in the other one of the two convex polygons to obtain a second planned path between the end point and the start point;
(4) and respectively carrying out segmentation fitting on the first planned path in each convex polygon and the second planned path between every two adjacent convex polygons to obtain a smoothly-connected coverage path.
Preferably, in the step (1), the region to be cleaned is divided by a polygon division algorithm, and the polygon division algorithm is sweet-line improvement algorithm.
Preferably, in the step (2), the zigzag path planning includes the following steps: and determining the inward shrinkage points of each angular point of the convex polygon by using a vector projection method, and gradually inward shrinking paths formed among the corresponding inward shrinkage points among the angular points to obtain a first planning path in a shape of a Chinese character 'hui'.
Further preferably, the vector projection method includes the following steps: selecting any corner point Pi on the convex polygon, and determining two straight lines L1 and L2 on the convex polygon, so that the L1 and the L2 are respectively parallel to two adjacent sides v1 and v2 of the corner point, the vertical distance between L1 and v1 and the vertical distance between L2 and v2 are all equal to the coverage width L of the vehicle-type robot, and the obtained intersection point of L1 and L2 is the required determined retraction point Qi.
Further preferably, a coordinate system is established in a plane where the area to be cleaned is located, and a specific calculation formula of the vector projection method is as follows:
wherein ,
is a vector representation of the corner points in the coordinate system,
is a vector representation of the inlined points in the coordinate system,
and
and the vector representations of two adjacent sides of the angular point in the coordinate system are respectively shown, L is the coverage width of the vehicle-shaped robot, and theta is the included angle between the two adjacent sides.
Preferably, in the step (3), the planning connection is implemented by an a-algorithm, which includes the steps of:
a1, establishing a search map of the area to be cleaned, taking the end point of the first planned path in one of two adjacent convex polygons as the path start point of the second planned path, taking the start point of the first planned path in the other one of the two adjacent convex polygons as the path end point of the second planned path, and putting the path start point into an open set as an initial node;
a2, finding reachable nodes around the initial node in the open set, skipping over the nodes existing in the closed set, and marking the initial node as a father node of the reachable node;
a3, calculating a loss value F from the initial node to the reachable node, taking the reachable node corresponding to the minimum value of F as a new initial node, and adding the new initial node into a closed set after deleting the new initial node from the open set;
a4, judging the new initial node, if the new initial node is not coincident with the path end point, repeating the step A2 and the step A3; if the new initial node is coincident with the path end point, backtracking all father nodes and obtaining the second planning path.
Further preferably, the loss value F is calculated by the formula: f ═ h + c, where h is the heuristic function and c is the cumulative path loss value.
Preferably, in the step (4), the segment fitting includes the steps of:
b1, selecting a path segment from the first planned path or the second planned path, and sampling anchor points in the segment, wherein the number of the anchor points is n;
b2, establishing a coordinate system in the plane of the area to be cleaned, and fitting the abscissa and the ordinate of the anchor point by using a fitting function parameterization respectively to obtain sampling parameters;
and B3, substituting the sampling parameters into a fitting function to calculate the abscissa and the ordinate, and then obtaining a smooth curve according to the plurality of the abscissas and the ordinate, wherein the smooth curve is the final coverage path.
Further preferably, the parametric fitting comprises the steps of:
c1, setting the parameter u of each anchor point as 1/n, and respectively fitting the values of the abscissa X and the ordinate Y of each anchor point according to the parameter u corresponding to each anchor point;
c2, performing iterative fitting on the abscissa X and the ordinate Y, and calculating the loss value of the current iteration;
c3, judging the difference of the loss values of the two iterations, and repeating the step C2 to continue the iterative fitting when the difference of the loss values is larger than an expected threshold value; when the difference of the loss values is smaller than an expected threshold value, ending iteration, and outputting a current parameter u as a sampling parameter of the anchor point;
wherein, the concrete formula of the fitting function is as follows:
X＝a*u+b*u*u+c*u*u*u；
Y＝a*u+b*u*u+c*u*u*u。
still further preferably, the desired threshold is 10-3。
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
(1) in the planning process, the motion constraint of the vehicle-shaped robot is taken into consideration, so that the times of turning around and turning are reduced as much as possible, and the coverage traversing efficiency of the vehicle-shaped robot is increased;
(2) the irregular cleaning areas are divided by utilizing a polygon division algorithm, a zigzag path planning is adopted in each divided area, and the A-star algorithm is adopted to connect the front divided area and the rear divided area, so that the adaptivity of the planning method is improved, and the irregular cleaning areas with any complex shapes can be processed;
(3) and the planned path is smoothed through parametric fitting, so that the adaptability to the motion constraint of the vehicle-shaped robot is further improved.
Drawings
Fig. 1 is a schematic flow chart of a coverage path planning method in an embodiment of the present invention;
FIG. 2 is a schematic diagram of the geometric principle of the vector projection method in an embodiment of the present invention;
fig. 3 is a schematic flow chart of the a-algorithm in an embodiment of the present invention;
FIG. 4 is a schematic flow chart of piecewise fitting in an embodiment of the present invention;
FIG. 5 is a schematic flow chart of a parametric fit in an embodiment of the present invention;
FIG. 6 is a schematic diagram of an overlay path in an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
The invention relates to an improvement on a coverage path planning method of a cleaning robot, which can be well suitable for a vehicle-type robot so as to solve the problems of insufficient cleaning capability and low cleaning efficiency of a disc-type robot in a large scene.
Specifically, as shown in fig. 1, the coverage path planning method for the vehicle-type robot disclosed by the invention comprises the following steps:
(1) and selecting an area to be cleaned, and dividing the area to be cleaned into a plurality of convex polygons. Here, the area to be cleaned is an irregular polygon, and the area is divided into a plurality of convex polygons by an operator performing a polygon division algorithm on the area on a map through a reference line editor. In this embodiment, the polygon segmentation algorithm is a sweet-line approximation algorithm in the prior art, and the specific algorithm principle is not described in detail.
(2) And executing the square-clip-shaped path planning in each convex polygon to obtain a first planned path of the square clip shape. As shown in fig. 6, which shows the first planned path of the zigzag within several convex polygons, it can be seen from the figure that the first planned path of the zigzag can completely cover the convex polygon area, and has fewer turns and no turning around. Through the path planning of the Chinese character 'hui', the turning and turning times of the vehicle-shaped robot can be reduced as much as possible, and the coverage traversing efficiency of the vehicle-shaped robot is improved.
Here, the zigzag path planning includes the steps of: and determining an inner contraction point of each angular point of the convex polygon by using a vector projection method, and gradually inwardly contracting a path formed between corresponding inner contraction points among a plurality of angular points to obtain a first planned path in a shape of a Chinese character 'hui'.
In this embodiment, as shown in fig. 2, the vector projection method includes the following steps: selecting any corner point Pi on the convex polygon, and determining two straight lines L1 and L2 on the convex polygon, so that L1 and L2 are respectively parallel to two adjacent sides v1 and v2 of the corner point, the vertical distance between L1 and v1 and the vertical distance between L2 and v2 are equal to the coverage width L of the vehicle-type robot, and the intersection point of the obtained L1 and L2 is the retraction point Qi to be determined.
Specifically, a coordinate system is established in the plane of the area to be cleaned, wherein,
is a vector representation of the corner point Pi in the coordinate system,
is the vector representation of the retracted point Qi in the coordinate system,
and
vector representation of two adjacent sides v1 and v2, which are corner points Pi respectively, in a coordinate system, wherein L is the coverage width of the car-type robot, and θ is the included angle between the two adjacent sides, and the coverage width of the car-type robot is the path width. Here, v1, v2, L1 and L2 constitute a parallelogram, the PiQi vector, obviously being equal to the sum of the vectors v1 and v2 of the two adjacent sides of the parallelogram; the directions of the vector v1 and the vector v2, which are the directions of the sides constituting the convex polygon, can be expressed by vertex differences; the lengths of the vector v1 and the vector v2 are the same, and are equal to the division of the sin value of the included angle between the parallel line spacing L and the line segment where v1 and v2 are located, so that the specific calculation formula of the point of the inlining is as follows:
through the calculation formula, the coordinates of the inner contraction point can be conveniently determined.
(3) And in each two adjacent convex polygons, planning and connecting the end point of the first planned path in one of the two convex polygons and the start point of the first planned path in the other convex polygon to obtain the shortest second planned path between the end point and the start point. The planning connection is realized through an A-algorithm, the A-algorithm can realize the point-to-point collision-free path planning by taking the obstacles in the areas into consideration, the purpose of connecting the front area and the rear area to be cleaned is achieved, and the planned path is the shortest path for avoiding the obstacles.
Specifically, as shown in fig. 3, the a-algorithm of the present embodiment includes the following steps:
and A1, establishing a search graph of the area to be cleaned, taking the end point of the first planned path in one of the two adjacent convex polygons as the path start point of the second planned path, taking the start point of the first planned path in the other one of the two adjacent convex polygons as the path end point of the second planned path, and putting the path start point into the open set as the initial node. Here, the search map is an area node map created from a map and an obstacle, and an optimal path can be obtained by effectively taking various factors in the map into consideration.
A2, finding the reachable nodes around the initial node in the open set, skipping over the nodes existing in the closed set, and marking the initial node as the parent node of the reachable node.
A3, calculating the loss value F from the initial node to the reachable node, taking the reachable node corresponding to the minimum value of F as a new initial node, and adding the new initial node into the closed set after deleting the new initial node from the open set. Here, the loss value F is h + c, where h is a heuristic function and c is an accumulated path loss value.
A4, judging a new initial node, and if the new initial node is not coincident with the path end point, repeating the step A2 and the step A3; if the new initial node is coincident with the path end point, all father nodes are traced back, and a second planned path is obtained. The second planned path obtained here is the shortest path calculated according to the a-algorithm. As shown in fig. 6, which shows a part of the second planned path, it can be seen from the figure that this path is the shortest path between two convex polygons.
(4) And respectively carrying out sectional fitting on the first planned path in each convex polygon and the second planned path between every two adjacent convex polygons to obtain the smoothly connected coverage path.
In this embodiment, as shown in fig. 4, the segment fitting herein includes the following steps:
b1, selecting a path segment from the first planned path or the second planned path, and sampling anchor points in the segment, wherein the number of the anchor points is n.
B2, establishing a coordinate system in the plane of the area to be cleaned, and parameterizing and fitting the abscissa and the ordinate of the anchor point by using the fitting function respectively to obtain sampling parameters.
Wherein, the concrete cubic polynomial fitting function is:
X＝a*u+b*u*u+c*u*u*u；
Y＝a*u+b*u*u+c*u*u*u。
as shown in fig. 5, the specific parametric fit includes the following steps:
and C1, setting the parameter u of each anchor point to be 1/n respectively, and fitting the values of the abscissa X and the ordinate Y of each anchor point according to the parameter u corresponding to each anchor point.
And C2, performing iterative fitting on the abscissa X and the ordinate Y, and calculating the loss value of the current iteration.
C3, judging the difference of the loss values of the two iterations, and repeating the step C2 to continue the iterative fitting when the difference of the loss values is larger than an expected threshold value; and when the difference of the loss values is smaller than the expected threshold value, ending the iteration, and outputting the current parameter u as the sampling parameter of the anchor point. The desired threshold here is 10-3。
And B3, substituting the sampling parameters into the fitting function to calculate the abscissa and the ordinate, and then obtaining a smooth curve according to the plurality of abscissas and the ordinate, wherein the smooth curve is the final coverage path. As shown in fig. 6, a partial full coverage path is shown, an overall smooth path formed by combining the first planned path and the second planned path is a final coverage path, and the obtained smooth path is convenient for the vehicle-type robot to track, conforms to the motion law of the vehicle, and improves the adaptability of the vehicle-type robot.
The above-mentioned embodiments are merely illustrative of the technical idea and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the scope of the present invention.
Claims (10)
1. A coverage path planning method suitable for a vehicle-type robot is characterized by comprising the following steps: the planning method comprises the following steps:
(1) selecting an area to be cleaned, and dividing the area to be cleaned into a plurality of convex polygons;
(2) executing a square-shaped path planning in each convex polygon to obtain a first planning path of the square shape;
(3) in every two adjacent convex polygons, planning and connecting an end point of the first planned path in one of the two convex polygons with a start point of the first planned path in the other one of the two convex polygons to obtain a second planned path between the end point and the start point;
(4) and respectively carrying out segmentation fitting on the first planned path in each convex polygon and the second planned path between every two adjacent convex polygons to obtain a smoothly-connected coverage path.
2. The method for planning an overlay path for a robotic vehicle as claimed in claim 1, wherein: in the step (1), the region to be cleaned is segmented by a polygon segmentation algorithm, wherein the polygon segmentation algorithm is sweet-line improvement algorithm.
3. The method for planning an overlay path for a robotic vehicle as claimed in claim 1, wherein: in the step (2), the zigzag path planning includes the following steps: and determining the inward shrinkage points of each angular point of the convex polygon by using a vector projection method, and gradually inward shrinking paths formed among the corresponding inward shrinkage points among the angular points to obtain a first planning path in a shape of a Chinese character 'hui'.
4. The method for planning an overlay path for a robotic vehicle as claimed in claim 3, wherein: the vector projection method comprises the following steps: selecting any corner point Pi on the convex polygon, and determining two straight lines L1 and L2 on the convex polygon, so that the L1 and the L2 are respectively parallel to two adjacent sides v1 and v2 of the corner point, the vertical distance between L1 and v1 and the vertical distance between L2 and v2 are all equal to the coverage width L of the vehicle-type robot, and the obtained intersection point of L1 and L2 is the required determined retraction point Qi.
5. The coverage path planning method for the vehicle-type robot as claimed in claim 3 or 4, wherein: establishing a coordinate system in the plane of the area to be cleaned, wherein the specific calculation formula of the vector projection method is as follows:
wherein ,
is a vector representation of the corner points in the coordinate system,
is a vector representation of the inlined points in the coordinate system,
and
vector representation of two adjacent edges of the angular point in the coordinate system respectively, and L is the vehicle type machineThe human coverage width theta is the included angle between the two adjacent edges.
6. The method for planning an overlay path for a robotic vehicle as claimed in claim 1, wherein: in the step (3), the planned connections are implemented by an a-algorithm, which includes the steps of:
a1, establishing a search map of the area to be cleaned, taking the end point of the first planned path in one of two adjacent convex polygons as the path start point of the second planned path, taking the start point of the first planned path in the other one of the two adjacent convex polygons as the path end point of the second planned path, and putting the path start point into an open set as an initial node;
a2, finding reachable nodes around the initial node in the open set, skipping over the nodes existing in the closed set, and marking the initial node as a father node of the reachable node;
a3, calculating a loss value F from the initial node to the reachable node, taking the reachable node corresponding to the minimum value of F as a new initial node, and adding the new initial node into a closed set after deleting the new initial node from the open set;
a4, judging the new initial node, if the new initial node is not coincident with the path end point, repeating the step A2 and the step A3; if the new initial node is coincident with the path end point, backtracking all father nodes and obtaining the second planning path.
7. The method for planning an overlay path for a robotic vehicle as claimed in claim 5, wherein: the calculation formula of the loss value F is as follows: f ═ h + c, where h is the heuristic function and c is the cumulative path loss value.
8. The method for planning an overlay path for a robotic vehicle as claimed in claim 1, wherein: in the step (4), the segment fitting includes the following steps:
b1, selecting a path segment from the first planned path or the second planned path, and sampling anchor points in the segment, wherein the number of the anchor points is n;
b2, establishing a coordinate system in the plane of the area to be cleaned, and fitting the abscissa and the ordinate of the anchor point by using a fitting function parameterization respectively to obtain sampling parameters;
and B3, substituting the sampling parameters into a fitting function to calculate the abscissa and the ordinate, and then obtaining a smooth curve according to the plurality of the abscissas and the ordinate, wherein the smooth curve is the final coverage path.
9. The method for planning an overlay path for a robotic vehicle as claimed in claim 8, wherein: the parametric fitting comprises the following steps:
c1, setting the parameter u of each anchor point as 1/n, and respectively fitting the values of the abscissa X and the ordinate Y of each anchor point according to the parameter u corresponding to each anchor point;
c2, performing iterative fitting on the abscissa X and the ordinate Y, and calculating the loss value of the current iteration;
c3, judging the difference of the loss values of the two iterations, and repeating the step C2 to continue the iterative fitting when the difference of the loss values is larger than an expected threshold value; when the difference of the loss values is smaller than an expected threshold value, ending iteration, and outputting a current parameter u as a sampling parameter of the anchor point;
wherein, the concrete formula of the fitting function is as follows:
X＝a*u+b*u*u+c*u*u*u；
Y＝a*u+b*u*u+c*u*u*u。
10. the method for planning an overlay path for a robotic vehicle as claimed in claim 9, wherein: the desired threshold is 10-3。
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