公开(公告)号：US20220206505A1

公开(公告)日：2022-06-30

申请号：US17535671

申请日：2021-11-25

Applicant: SOUTHEAST UNIVERSITY

Inventor： Lifeng ZHU ,  Shuai YAO ,  Aiguo SONG

IPC: G05D1/02

Abstract: A method for generating a geometric folding full coverage path for a robot is provided. A conventional full coverage path planning algorithm is based on a zigzag pattern, a spiral pattern or a combination thereof. A traversal order is restricted by a linear traversal manner or a traversal manner from inside to outside and therefore lacks flexibility. In the method, a geometric folding operation is used to generate a full coverage path pattern for the robot, referred to as a geometric folding path pattern. The full coverage path has a flexible traversal order. A representation method for the geometric folding path pattern is modeled in the method, and subsequently the method for randomly generating the geometric folding full coverage path and a search method for a geometric folding path within a constraint of passing through specified points in a given order are provided.