Aiming at the autonomous navigation of the end effector of the bathing robot in direct contact with the human body, this paper proposed a three-dimensional coverage path planning algorithm which applied to the improved artificial potential field method based on the human point cloud. Firstly, it added the obstacle gravitational potential field to the basis of the traditional artificial potential field method, so that the robot could press close to the obstacle surface and moved toward to target point. And by adding virtual target points, it overcame the local minimum problem caused by the concave region. Then, it segmented the human point cloud and projected it onto a plane, combined with the improved artificial potential field method to complete the coverage path planning for the human body surface. Conducting simulation experiments based on a human model point cloud, the experimental results show that the proposed algorithm can quickly and effectively complete the 3D coverage scrubbing path planning.

[2023-04-26] Accepted Paper /doc/2023.02.0053/v1

[2023-09-05] Printed Article /doc/2023.02.0053/v2