| 摘要 |
In a path planning method is disclosed for surface processing machines such as, for example, cleaning machines in a supermarket first, potential sub-paths are produced that, proceeding from boundary lines of obstacles or the work area parallel to these boundary lines shifted by the width of the processing device are erected in the form of concentric circles. These potential sub-paths are then sub-divided by maneuvering marks according to an heuristics, for example on the basis of the maneuverability of the mobile unit, and are connected to one another by sub-paths. The respective sub-paths are subsequently evaluated with a cost function that considers the distances, the area already covered, and the maneuverability of the unit, and the most cost-beneficial path is combined to form a planned path for the mobile unit. Preferably, sub-paths between the maneuvering marks are interpreted as graph edges and the maneuvering marks are interpreted as nodes and are evaluated with known evaluation methods for generating optimum graphs. Areas of employment are cleaning robots for supermarkets, lawnmowers, or painting devices and the like.
|
