2P1-I10 Motion Primitives and Their Sweeping Efficiency in Sweeping Algorithm
Yoshio KATSUKI, Motoji Yamamoto, Takeshi IKEDA · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2008
Sweeping task means motions that a mobile robot covers a 2-dimention area by its motion. Sweeping algorithms have two categories; one is model-based algorithm and another is reaction-based algorithm. When the robot doesn't have any maps of its workspace, sweeping task must be done by reaction-based algorithm which typically includes some motion primitives. Motion primitives basically consist of sweeping motion and travelling motion. As the sweeping motions, parallel and spiral motions are often used. Following motion and reflection motion for wall are also often used as the travelling motion. This paper investigates a sweeping efficiency using such motion primitives. In simulations, workspaces are modeled by many examples of real rooms.