关键词：光机电；机器人；动态编程算法；路径规划
摘 要：A complete coverage path planning algorithm,which combines local space coverage with global planning,is proposed.At first,environmental model of mobile robot in a space with obstacles is built by Boustrophedon unit decomposition method,and mobile robot realizes coverage in a reciprocating way in local space.S econdly,it takes local space divid ing,sub-space connecting sequence and sub-space walking route into account,then a completely 4onnected distance matrix that represents the connecting relation ship ofth e coverage sp ace are defined.Thirdly,dynamic programming algorithm is used to optimize this matrix and a shortest global coverage sequence is acquired.Simulation example proves the effectiveness of the proposed algorithm.