1. A Re-Entry Path Planning Method for Service Robots Based on Dynamic Inver-Over Evolutionary Algorithm
- Author
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Youdong Chen, Yong Tao, Zou Yu, Tianmiao Wang, Hegen Xiong, Fan Ren, and Chen Chaoyong
- Subjects
Service (systems architecture) ,Mathematical optimization ,Computer science ,DTSP ,0211 other engineering and technologies ,Evolutionary algorithm ,02 engineering and technology ,lcsh:Technology ,lcsh:Chemistry ,Approximation error ,0202 electrical engineering, electronic engineering, information engineering ,General Materials Science ,Motion planning ,cleaning service robot ,lcsh:QH301-705.5 ,Instrumentation ,Fluid Flow and Transfer Processes ,021103 operations research ,lcsh:T ,Process Chemistry and Technology ,Re entry ,General Engineering ,lcsh:QC1-999 ,Work environment ,Computer Science Applications ,dynamic Inver-Over evolutionary algorithm ,lcsh:Biology (General) ,lcsh:QD1-999 ,lcsh:TA1-2040 ,Path (graph theory) ,Robot ,020201 artificial intelligence & image processing ,lcsh:Engineering (General). Civil engineering (General) ,re-entry path planning ,lcsh:Physics - 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.
- Published
- 2019
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