Complete Coverage Path Planning of Underwater Wall-climbing Cleaning Robot

Abstract

Abstract Aiming at the special working environment of the underwater wall-climbing cleaning robot and the low efficiency and poor universality of the complete coverage path planning algorithm in this environment, a complete coverage path planning algorithm based on enclosing window is proposed. Firstly, the robot’s floating system is briefly introduced. Then, the grid map method is used to model the environment, and the traversal priority order of the single-layer enclosing window is determined according to different grid maps. Finally, when the robot falls into the dead corner, the diffusible water-ripple enclosing window search algorithm is used to find the escape grid, then the robot escapes from dead corner and continues to traverse until all traversable grids are traversed. The simulation results show that the method in this paper can not only achieve 100% full coverage and 0% repetition rate, but also reduce path length. It has higher planning efficiency in underwater environments, and has better applications.