关键词: 路径规划, 直角坐标系, 极坐标系, 路径记忆, 路径规划方案

Abstract:

Based on the planning of cleaning robot as the research object, through analyzing the motion process of cleaning robot modeling, which is put forward using the path to the memory of the present planning scheme and path planning based on dynamic map, by experiment and research more, achieving as close as possible to make the operation of the cleaning robot trajectory is full of the whole area, at the same time to avoid obstacles, minimize the trajectory of the repetition rate, so as to realize the path planning of a more efficient and concise.

Key words: path planning;rectangular coordinate system;polar coordinate system;path to the memory;path planning