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Research on Full-Coverage Path Planning Method of Steel Rolling Shop Cleaning Robot

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International Conference on Neural Computing for Advanced Applications (NCAA 2023)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1869))

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Abstract

As a large indoor unstructured environment, the steel rolling shop has many unknown factors that greatly affect the full-coverage cleaning path planning of the cleaning robot. In this paper, a round-trip full-coverage path planning algorithm is improved by using the breadth-first search (BFS) algorithm combined with the improved A* algorithm to complete the full-coverage cleaning task of the steel rolling shop by the cleaning robot. First, the obstacles in the raster map are inflated using the expansion strategy to prevent the cleaning robot from colliding with the obstacles; second, the map is traversed with full coverage by the BFS algorithm; finally, the round-trip full-coverage algorithm is used for path planning based on the traversal information, and when it enters the dead zone location, the improved A* algorithm is used to find the unplanned nodes and plan an optimal path to escape from the dead zone. The simulation results show that the improved round-trip full-coverage path planning algorithm is more efficient than the traditional full-coverage path planning algorithm, and the proposed method can solve the complex problems in unstructured environment and complete the full-coverage cleaning task of the steel rolling shop cleaning robot.

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Acknowledgments

The above work was partially supported by the Natural Science Foundation of Shandong Province (ZR2022MF267): Research on the method of road condition identification and friction estimation in autonomous driving. We would also like to acknowledge the support from the National Natural Science Foundation of China (No. 61903227).

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Authors and Affiliations

  1. School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, 250101, China

    Tengguang Kong, Huanbing Gao & Xiuxian Chen

  2. Shandong Key Laboratory of Intelligent Building Technology, Jinan, 250101, China

    Tengguang Kong, Huanbing Gao & Xiuxian Chen

Authors
  1. Tengguang Kong
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  2. Huanbing Gao
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  3. Xiuxian Chen
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Corresponding authors

Correspondence to Tengguang Kong or Huanbing Gao .

Editor information

Editors and Affiliations

  1. Harbin Institute of Technology, Shenzhen, China

    Haijun Zhang

  2. Chaohu University, Hefei, China

    Yinggen Ke

  3. Chongqing University, Chongqing, China

    Zhou Wu

  4. South China Normal University, Guangzhou, China

    Tianyong Hao

  5. Hefei University of Technology, Hefei, China

    Zhao Zhang

  6. Technical University of Denmark, Kongens Lyngby, Denmark

    Weizhi Meng

  7. Chaohu University, Hefei, China

    Yuanyuan Mu

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Kong, T., Gao, H., Chen, X. (2023). Research on Full-Coverage Path Planning Method of Steel Rolling Shop Cleaning Robot. In: Zhang, H., et al. International Conference on Neural Computing for Advanced Applications. NCAA 2023. Communications in Computer and Information Science, vol 1869. Springer, Singapore. https://doi.org/10.1007/978-981-99-5844-3_33

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  • DOI: https://doi.org/10.1007/978-981-99-5844-3_33

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-5843-6

  • Online ISBN: 978-981-99-5844-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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