摘要： 针对未知静态区域，在Acar算法的基础上提出一种改进的全区域覆盖算法。该算法根据机器人沿障碍物边界行走时，机器人行走方向是否发生改变来检测关键点，按一定规则依次覆盖所有障碍物的相邻单元，当机器人找到凹关键点且左、右凸关键点集都为空时，全区域覆盖成功，解决了Acar算法的一些缺陷。实验验证了算法的可行性和正确性。

关键词: 全区域覆盖, 关键点, 移动机器人

Abstract: An improved complete coverage algorithm based on Acar algorithm is presented for static environment with unknown obstacles. If the walking direction of robot is changed, the critical points can be detected. the neighboring cells of all obstacles are covered by robot according to some rules. When the robot finds concave critical points and both the left and the right convex critical point set are empty, the complete coverage is accomplished. The algorithm can overcome some defects of Acar algorithm. Experiments validate the feasibility and correctness of the algorithm.

Key words: complete coverage, critical point, mobile robot

中图分类号: 

• TP24