Today, robots can be found helping humans with their daily tasks. Some tasks require the robot to visit a set of locations in the environment efficiently, like in the Traveling Salesman Problem. As indoor environments are maze-like areas, feasible paths connecting locations must be computed beforehand, so they can be combined during the scheduling, which can be impracticable for real-time applications. This work presents an on-line Route Scheduling supported by a Fast Path Planning Method able to adjust pre-built paths. Experiments were carried out with virtual and real robots to evaluate time and quality of tours.

中文翻译：

---

通过预建路径加速自主机器人的在线路线调度

今天，机器人可以帮助人类完成日常工作。有些任务要求机器人高效地访问环境中的一组位置，例如旅行商问题。由于室内环境是迷宫般的区域，必须事先计算连接位置的可行路径，以便在调度过程中将它们组合起来，这对于实时应用程序来说是不切实际的。这项工作提出了一种由能够调整预建路径的快速路径规划方法支持的在线路线调度。使用虚拟和真实机器人进行了实验，以评估游览的时间和质量。