In the field of intelligent buildings, cleaning robots have always been a part of research. This study proposes a traversal algorithm based on the combination of simulated annealing algorithm based on monotonic heating and ant colony algorithm to solve the problem of coverage path planning during operation. Firstly, environmental modelling is conducted. Then, the principles of the two algorithms and their roles in path planning are addressed. The monotonic heating simulated annealing algorithm solves the problem of the traversal order of each part in the area, and it uses the ant colony algorithm to connect them. Simulation results show that the path coverage rate is 100% and the repetition rate is 4.85%. It can completely cover the whole area and has a low repetition rate, which greatly improves the efficiency of the cleaning robot.
Coverage path planning for cleaning robot based on improved simulated annealing algorithm and ant colony algorithm
Karimi, Hamid Reza
2024-01-01
Abstract
In the field of intelligent buildings, cleaning robots have always been a part of research. This study proposes a traversal algorithm based on the combination of simulated annealing algorithm based on monotonic heating and ant colony algorithm to solve the problem of coverage path planning during operation. Firstly, environmental modelling is conducted. Then, the principles of the two algorithms and their roles in path planning are addressed. The monotonic heating simulated annealing algorithm solves the problem of the traversal order of each part in the area, and it uses the ant colony algorithm to connect them. Simulation results show that the path coverage rate is 100% and the repetition rate is 4.85%. It can completely cover the whole area and has a low repetition rate, which greatly improves the efficiency of the cleaning robot.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
