Complete Coverage Navigation of Cleaning Robots Using Square-Cell-Based Map
Hong Yi · System Simulation Technology · 2005
This paper presents a novel approach for complete coverage navigation of cleaning robots in an unknown workspace. First, we discuss a square cell map representation and a rectangle cell map representation. The center point of each square cell is a special point (basic point) which represents a rectangle cell. Then, we search a path that can pass all basic points. A rectangle cell will be covered when the relevant base point is searched. Finally, we verify the effectiveness of the proposed methods through computer simulations.