摘要
近年来，扫地机器人作为智能家具的重要组成部分大大提高了生活便利性，而精准定位和全区域覆盖作为扫地机器人自主工作的核心被广泛研究。本文面向大范围室内固定场景探究扫地机器人室内定位和区域覆盖一体化系统，首先提出基于滚动时域优化的多锚点定位算法，该算法可以在减少成本的基础上大大提高定位精度；同时，为了提高覆盖效率，减少扫地机器人冗余运动，本文使用离线生成树算法进行区域覆盖，该算法基于扫地机器人的单位覆盖范围进行清扫路径规划，可以在完成覆盖任务同时回到原点。本文使用Python进行仿真实验，实验验证了该系统可以在精准估计扫地机器人位置的同时完成全区域覆盖。
关键词： 扫地机器人；多锚点状态估计；区域覆盖
Abstract
In recent years, as an important component of intelligent furniture, the sweeping robot has greatly improved the convenience of life, while precise positioning and full-area coverage as the core of the sweeping robot's autonomous work have been widely studied. This paper aims to explore the integrated system of indoor positioning and area coverage of sweeping robots for large-scale indoor fixed scenes. Firstly, a multi-anchor positioning algorithm based on Moving Horizon Estimation (MHE) is proposed, which can greatly improve the positioning accuracy on the basis of reducing costs. At the same time, in order to improve the coverage efficiency and reduce the redundant movement of the sweeping robot, this paper uses the offline STC algorithm for area coverage, which is based on the robot's unit coverage range. Allowing the robot to complete the coverage task and return to the starting point. In addition, Python is used for simulation experiments in this paper, and the experimental results verify that the system can complete full-area coverage by accurately estimating the position of the sweeping robot.
Key words： Robot vacuum cleaner; Multi-anchor state estimation; Area coverage
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