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BSA Extended BSA Coverage Path Searching Device Method and Recording Medium thereof

机译:BSA扩展的BSA覆盖路径搜索装置方法及其记录介质

摘要

The present invention relates to a device, method, and recording medium for extended backtracking spiral algorithm (BSA) coverage path planning capable of applying map decomposition to an unknown large map of a cleaning robot. The device comprises: an information collecting unit collecting information of a landmark; a landmark determining unit determining whether the detected landmark is a convex landmark or a concave landmark; an operation executing unit executing one operation of map reduction or map decomposition according to whether there is the convex landmark; and a path generating unit generating a path using BSA for a decomposed map.
机译:本发明涉及用于扩展回溯螺旋算法(BSA)覆盖路径规划的设备,方法和记录介质,其能够将地图分解应用于清洁机器人的未知大地图。该设备包括:信息收集单元,其收集地标信息;以及界标确定单元,确定检测到的界标是凸界标还是凹界标;运算执行单元,根据是否存在凸界标,执行地图缩小或地图分解的一个运算;路径生成单元使用BSA为分解后的地图生成路径。

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