An Improved Algorithm for Complete Coverage Path Planning Based on Biologically Inspired Neural Network

doi:10.1109/TCDS.2023.3237612

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所

	An Improved Algorithm for Complete Coverage Path Planning Based on Biologically Inspired Neural Network
	L. Han; X. Tan; Q. Wu and X. Deng
刊名	IEEE Transactions on Cognitive and Developmental Systems
	2023
卷号	15 期号:3 页码:1605-1617
ISSN号	23798920
DOI	10.1109/TCDS.2023.3237612
英文摘要	Complete coverage path planning (CCPP) requires the mobile robots to traverse every part of the workspace, which is one of the major challenges in cleaning robots and many other robotic systems. The biologically inspired neural network (BINN) algorithm has been extensively applied in path planning, recently. In this article, a new CCPP strategy with BINN is proposed. The planned path of cleaning robot is not only determined by the dynamic neural activities but also by the distribution of obstacles in the environmental map. By distinguishing the connectivity between different areas of the environmental map, and using the proposed path backtracking algorithm, the improved CCPP algorithm can autonomously plan a collision-free path and reduce the path repetition ratio. Besides, an improved dynamic deadlock escape algorithm is presented to select the optimal escape target point. The simulation results show that the proposed CCPP algorithm without any templates or learning procedures is able to generate an orderly path in both known and unknown environment. © 2016 IEEE.
URL标识	查看原文
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/67514]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	L. Han,X. Tan,Q. Wu and X. Deng. An Improved Algorithm for Complete Coverage Path Planning Based on Biologically Inspired Neural Network[J]. IEEE Transactions on Cognitive and Developmental Systems,2023,15(3):1605-1617.
APA	L. Han,X. Tan,&Q. Wu and X. Deng.(2023).An Improved Algorithm for Complete Coverage Path Planning Based on Biologically Inspired Neural Network.IEEE Transactions on Cognitive and Developmental Systems,15(3),1605-1617.
MLA	L. Han,et al."An Improved Algorithm for Complete Coverage Path Planning Based on Biologically Inspired Neural Network".IEEE Transactions on Cognitive and Developmental Systems 15.3(2023):1605-1617.