1. A Re-Entry Path Planning Method for Service Robots Based on Dynamic Inver-Over Evolutionary Algorithm.
- Author
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Tao, Yong, Chen, Chaoyong, Wang, Tianmiao, Chen, Youdong, Xiong, Hegen, Ren, Fan, and Zou, Yu
- Subjects
ROBOTIC path planning ,TRAVELING salesman problem ,ROBOTS ,EVOLUTIONARY algorithms ,EVOLUTIONARY computation - Abstract
A re-entry path planning method in omitting areas for service robots is suggested based on dynamic Inver-Over evolutionary algorithms after the robot automatically avoids obstacles. The complete coverage path planning is researched for cleaning service robots. Combined with features of dynamic travelling salesmen problem (DTSP), a local operator is employed for the path planning to enhance real-time dynamic properties of the Inver-Over algorithm. The method addresses the path planning problem that a number of cells undergo dynamic changes over time under work environment of cleaning robots. With simulations and experiments performed, it is discovered that the average relative error is 2.2% between the re-entry path planning and the best path, which validates the effectiveness and feasibility of the method. [ABSTRACT FROM AUTHOR]
- Published
- 2020
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