Coverage Path Planning for Cleaning Robot Adapted to Biased Dirt Distribution
Takahiro Sasaki, Guillemo ENRIQUEZ, Takanobu Miwa, Shuji Hashimoto · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2016
The path planning algorithms for cleaning robots reported so far focused on how the robots move the entire space without waste and missing part. However, considering actual environments, the dirt distribution is not uniform and has some specific features which depend on the shape of the environment and human behavior. Therefore, it is more efficient to clean the region according to the deviation of the dirt. In this paper, we construct a novel path planning algorithm for the cleaning robots which takes the deviation of the dirt into consideration to prioritize the region with large quantity of the dirt and sorts out the parts of the region.