Study on path planning for indoor floor-cleaning robots
Xifeng Liang · 2006
The path planning for an indoor floor-cleaning robot was investigated by using the moving-along-the-edge method in static non-obstacles and obstacles environments modeled by the grids method in this paper.The simulation results indicate that the indoor floor-cleaning robot can avoid obstacles and edges and complete the cleaning task along a quadrate-circled path successfully with a high covering ratio and a low repetition ratio.In addition,it also shows that the floor-cleaning robot can return to the original position after finishing the cleaning automatically.So the quadrate-circled path is feasible for the path planning of the floor-cleaning robots(along) with the moving-along-the-edge method.