Determination of An Optimal Return-Path on Road Attributes for Mobile Robot Recharging

[摘要] Optimal path-planning for mobile robot recharging is a very vital requirement in real applications. This paper proposes a strategy of determining an optimal return-path in consideration of road attributes which include length, surface roughness, road grade and the setting of speed-control hump. The road in the environment is partitioned into multiple segments, and for each one, a model of cost that the robot will pay for is established under the constraints of the attributes. The cost consists of energy consumption and the influence of vibration on mobile robot that is induced by motion. The return-path is constituted by multiple segments and its cost is defined to be the sum of the cost of each segment. The idle time, deduced from the cost, is firstly used as the decision factor for determining the optimal return-path. Finally, the simulation is given and the results prove the effectiveness and superiority of the strategy.

[学科分类] 自动化工程

[关键词] Mobile robot recharging;Road attribute;Surface roughness;Road grade;Idle time.