Sweeping Robot Path Planning Based on Heuristic Search Algorithm

Recently, sweeping robots gradually become the essential tools in more and more normal families. The demands of path planning and positioning level for sweeping robot are more rigorous. In this paper, we propose a new path planning scheme for the sweeping robot based on template model method, grid method and subregion division method which are mature, and it is implemented based on heuristic search algorithm. By building a raster map and combining with the appropriate sub-region partition method, the basic path planning scheme can be more efficiently and conveniently. Then the improved scheme constructing reasonable evaluation functions and setting up the edge sweeping mechanism with sensors to improve the basic scheme. Combining with the heuristic search algorithm and the edge mechanism, the main purposes are to cut down the high recurrence rate while transferring among each sub-range, to improve path finding efficiency of complex paths, and to improve coverage rate of irregular obstacles around. Sweeping robot's fraction of coverage can reach 99% and the repetition rate can be controlled between 10% and 18%.