A Heuristic Self-Optimized Path Planning Scheme for an Ultraviolet Disinfection Robot
YU Yicong
LUO Shaoye
Xu Chengtao
ZHANG Yonggan
TSAI Rongguei
Abstract：With the global spread of the new coronavirus,numerous anti-virus technologies have been proposed.Ultraviolet disinfection at specific wavelengths and doses has been proven to be effective.However,most ultraviolet disinfection devices are fixed and lack mobility,resulting in limited adaptability to different environments.Existing mobile ultraviolet disinfection robots also suffer from suboptimal movement paths,and lack independent planning capabilities,leading to incomplete disinfection areas.In this study,we propose a heuristic self-optimizing path planning method.We design and implement a path traversal program and a path optimization program.Initially,we achieve full-area coverage using the SCAN algorithm.Subsequently,the path optimization program approximates the minimum loop to determine the shortest path thereby reducing the total length of the robot's movement path.To evaluate the efficacy of the proposed heuristic self-optimized path planning(HSPP)algorithm,we compared it with the random method and SCAN algorithm.Experimental results demonstrate that the HSPP algorithm achieves complete coverage of the disinfection area while reducing total path length compared to both SCAN algorithm and the random methods.
Keywords：path planningfull coverage problemshortest pathheuristic self-optimization
Publication Date：2023-11-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 60-65 )