To solve the problem of automatic recharging path planning for cleaning robots in complex industrial environments, this paper proposes two environmental path planning types based on designated charging location and multiple charging locations. First, we use the improved Maklink graph to plan the complex environment; then, we use the Dijkstra algorithm to plan the global path to reduce the complex two-dimensional path planning to one dimension; finally, we use the improved fruit fly optimization algorithm (IFOA) to adjust the path nodes for shorting the path length. Simulation experiments show that the effectiveness of using this path planning method in a complex industrial environment enables the cleaning robot to select a designated location or the nearest charging location to recharge when the power is limited. The proposed improved algorithm has the characteristics of a small amount of calculation, high precision, and fast convergence speed.

中文翻译：

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清洁机器人自动充电路径规划

针对复杂工业环境下清洁机器人自动充电路径规划问题，提出了基于指定充电位置和多充电位置两种环境路径规划类型。首先，我们使用改进的Maklink图来规划复杂的环境；然后，我们使用Dijkstra算法规划全局路径，将复杂的二维路径规划降为一维；最后，我们使用改进的果蝇优化算法（IFOA）来调整路径节点以缩短路径长度。仿真实验表明，在复杂的工业环境中使用这种路径规划方法的有效性，可以使清洁机器人在电量有限的情况下选择指定位置或最近的充电位置进行充电。