Global Path Planning Method for Parks based on Complete Coverage Cleaning Task

Abstract

In this paper, based on a small driving sanitation platform of an enterprise, the global path planning method in the unmanned decision system is studied and designed for the characteristics of the park environment and the task requirements. The operation space of the sanitation platform is divided into rectangular square cleaning area and lane cleaning area based on the task demand of full coverage of the park. For the sweeping task of the lane area, multiple parallel sweeping reference paths are generated by raster erosion of the lane map; for the sweeping task of the rectangular square, this paper proposes an improved bow-shaped full coverage algorithm combining forward and reverse based on the steering capacity constraint of the sanitation vehicle. Finally, the path articulation algorithm is used to connect the sweeping paths of suboperating areas to form a global reference path for the sweeping operation of the park.