Improved Complete Coverage Path Planning Algorithm for Wall Climbing Robot

This paper focuses on the complete coverage path planning problem for wall-climbing robots in boiler water wall inspection. A full coverage path planning algorithm based on “Zigzag path” is proposed to solve the turning constraint problem of large turning radius robot n path planning. The algorithm replaces the traditional right angle turning mode with “Zigzag path”, so as to ensure that the robot can still efficiently complete the full coverage task under the condition of limited turning radius. By dynamically adjusting the path trajectory, the method effectively balances the path coverage and the robot motion stability, while reducing the path redundancy and energy consumption. Experimental results show that the algorithm has high coverage and adaptability in complex environment, and can effectively deal with the wall full coverage detection task of robot with large turning radius. The research in this paper provides an innovative solution for the application of large turning radius robot in industrial scenes, and has important practical application value.