[1]CAO Xiang,YU Along.Complete-coverage path planning algorithm of mobile robot based on belief function[J].CAAI Transactions on Intelligent Systems,2018,13(2):314-321.[doi:10.11992/tis.201610006]
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Complete-coverage path planning algorithm of mobile robot based on belief function

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 13 Number of periods: 2018 2 Page number: 314-321 Column: 学术论文—智能系统 Public date: 2018-04-15
Title:
Complete-coverage path planning algorithm of mobile robot based on belief function
Author(s):
CAO Xiang;  YU Along
School of Physics and Electronic Electrical Engineering, Huaiyin Normal University, Huaian 223300, China
Keywords:
mobile robot; complete-coverage path planning; direction belief function; grid belief function; repetition rate
CLC:
TP273
DOI:
10.11992/tis.201610006
Abstract:
For the complete-coverage path planning of mobile robot, an algorithm based on grid belief function was proposed. The goal is to control a mobile robot to traverse all reachable locations in work area, while guarantee automatic obstacle avoidance. Firstly, the grid map is assigned with values according to the information of the environment, the obstacles, covered grids and uncovered grids are represented by using different function values; secondly, judging if a mobile robot is caught in dead zone or not, different direction belief functions are introduced to adjust the grid function values; lastly, the robot programs the covered path according to the grid belief function value. The proposed algorithm can guide a robot to realize full coverage of work area, rapidly escape from dead zone and achieve a low repetition rate of the covered path. In the simulation experiments, by compared with bio-inspired neural network algorithm, the algorithm proposed in the paper was verified to own high coverage efficiency.
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