Study of a Complete Traversal Path Planning Algorithm1

Abstract

Traversal path planning is widely applied in many technical or strategical spheres. The path planning algorithm plays an important role in designing an effective path for robot- sweepers or lawnmowers operations. Additionally, there are requirements of wide applications in agriculture for generating appropriate moving guides for some irregular paddy fields. However, it is still a problem how to achieve a complete path planning. This paper proposes an algorithm to achieve full coverage of the map with low repeat rates. In this paper, a composed strategy of local and global path planning algorithms is investigated. A global path planning algorithm named Improved Ant Colony Algorithm is studied to work on the graph. An algorithm named Vertical Wave-Front and Distance Transformation Algorithm is carried out to study local path planning issues. Simulations are carried out based on maps with different characteristics. Simulation results show that the proposed algorithm in this paper can perform very well in covering maps and generating a moving route at a low repeat rate.