Coverage Rolling Path Planning of Unknown Environments with Dynamic Heuristic Searching

A new complete coverage path planning algorithm based on rolling path planning, dynamic heuristic searching and directly filling is proposed to improve efficiency of path planning for mobile robot in unknown environments. The biological inspired neural network was used to model the environment of mobile robot. After the characteristic of local environment around robot was identified on line, the dynamic heuristic planning method combing static searching and following the boundary of obstacle is applied and generated path is much shorter and less turning. Using virtual obstacle and directly filling algorithm, the continuously covered area in U shape obstacle is obtained in unknown environments. The effectiveness of the proposed algorithm is validated by simulation in unknown complicated environments.