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Coverage path planning for cleaning robot based on improved simulated annealing algorithm and ant colony algorithm

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Abstract

In the field of intelligent buildings, cleaning robots have always been a part of research. This study proposes a traversal algorithm based on the combination of simulated annealing algorithm based on monotonic heating and ant colony algorithm to solve the problem of coverage path planning during operation. Firstly, environmental modelling is conducted. Then, the principles of the two algorithms and their roles in path planning are addressed. The monotonic heating simulated annealing algorithm solves the problem of the traversal order of each part in the area, and it uses the ant colony algorithm to connect them. Simulation results show that the path coverage rate is 100% and the repetition rate is 4.85%. It can completely cover the whole area and has a low repetition rate, which greatly improves the efficiency of the cleaning robot.

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Data Availability

The datasets used or analysed during the current study are available from the corresponding author on reasonable request.

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Funding

This research was funded by the NSFC under grant nos. 62373266, in part by the Postgraduate Research & Practice Innovation Program of Jiangsu Province under Grant No. KYCX22_3277 and SJCX22_1585, in part by the Qing Lan Project of Jiangsu, in part by the China Postdoctoral Science Foundation under Grant no. 2020M671596 and 2021M692369, in part by the Suzhou Science and Technology Development Plan Project (Key Industry Technology Innovation) under Grant No. SYG202114, in part by the Open Project Funding from Anhui Province Key Laboratory of Intelligent Building and Building Energy Saving, Anhui Jianzhu University, under Grant No. IBES2021KF08, and Postgraduate Research & Practice Innovation Program of Jiangsu Province, under Grant No. SJCX23_1740.

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Author notes

  1. Kun Shi and Wendi Wu have contributed equally to this work.

Authors and Affiliations

  1. School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou, China

    Kun Shi, Wendi Wu, Zhengtian Wu & Baoping Jiang

  2. Department of Mechanical Engineering, Politecnico di Milano, Milan, Italy

    Hamid Reza Karimi

Authors
  1. Kun Shi
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  2. Wendi Wu
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  3. Zhengtian Wu
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  4. Baoping Jiang
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  5. Hamid Reza Karimi
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Correspondence to Zhengtian Wu.

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Shi, K., Wu, W., Wu, Z. et al. Coverage path planning for cleaning robot based on improved simulated annealing algorithm and ant colony algorithm. SIViP 18, 3275–3284 (2024). https://doi.org/10.1007/s11760-023-02989-y

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  • DOI: https://doi.org/10.1007/s11760-023-02989-y

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