1P2-Q04 Cleaning Efficiency of Deterministic Reactive Motion for a Sweeping Robot : -Similarity with Probabilistic Reactive Motion and Chaotic Characteristic(New Control Theory and Motion Control (2))
Takeshi Araki, Motoji Yamamoto · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2014
Sweeping robots such as floor cleaning robots uses probabilistic reactive motions to cover wide area in unknown environment. It has been believed that the probabilistic motion primitive is necessary in addition to some deterministic motion primitive like wall following and parallel motions. The paper investigates the sweep motion in given rctangular work space by only a deterministic motion. The resultant weep motion shows chaotic characteristic according to consition of motion parameters. The motion is similar with the one by probabilistic reactive motion primitive. It means a possibility of efficient weeping motion by simple deterministic motion primitive.