@article{ART001394110},
author={Hyung Il Kim},
title={Path Planning for Cleaning Robots Using Virtual Map},
journal={Journal of The Korea Society of Computer and Information},
issn={1598-849X},
year={2009},
volume={14},
number={11},
pages={31-40}
TY - JOUR
AU - Hyung Il Kim
TI - Path Planning for Cleaning Robots Using Virtual Map
JO - Journal of The Korea Society of Computer and Information
PY - 2009
VL - 14
IS - 11
PB - The Korean Society Of Computer And Information
SP - 31
EP - 40
SN - 1598-849X
AB - The most common cleaning methods of cleaning robot can be divided into two categories: the random and the boustrophedon method. A cleaning robot using the random method moves straight until it bumps into an obstacle. If it collides with an obstacle, the cleaning robot turns a specific angle and continues moving straight. Therefore, the random method often tends to clean the already clean area repeatedly. In addition, it takes a long time to complete cleaning. A cleaning robot using the boustrophedon method moves straight until it collides with an obstacle. If it meets an obstacle, the cleaning robot moves to the next uncleaned space through turning and moving ahead. when resuming cleaning from the new region, a cleaning robot moves in the direction opposite to the direction of the previous cleaning. Because the boustrophedon method cleans a cleaning space more densely, its performance is excellent in an obstacle-free space or a small space. However, In a space with obstacles or a complex structure, it takes a long time to complete the cleaning work. Cleaning should be systematically approached with a good understanding of the work area. The virtual map-based cleaning robot proposed in this paper cleaned a work space efficiently. The efficiency of the proposed method was measured through simulation.
KW - 청소로봇(Cleaning Robot);가상지도(Virtual Map);경로계획(Path Planning);청소기법(Cleaning Method)
DO -
UR -
ER -
Hyung Il Kim. (2009). Path Planning for Cleaning Robots Using Virtual Map. Journal of The Korea Society of Computer and Information, 14(11), 31-40.
Hyung Il Kim. 2009, "Path Planning for Cleaning Robots Using Virtual Map", Journal of The Korea Society of Computer and Information, vol.14, no.11 pp.31-40.
Hyung Il Kim "Path Planning for Cleaning Robots Using Virtual Map" Journal of The Korea Society of Computer and Information 14.11 pp.31-40 (2009) : 31.
Hyung Il Kim. Path Planning for Cleaning Robots Using Virtual Map. 2009; 14(11), 31-40.
Hyung Il Kim. "Path Planning for Cleaning Robots Using Virtual Map" Journal of The Korea Society of Computer and Information 14, no.11 (2009) : 31-40.
Hyung Il Kim. Path Planning for Cleaning Robots Using Virtual Map. Journal of The Korea Society of Computer and Information, 14(11), 31-40.
Hyung Il Kim. Path Planning for Cleaning Robots Using Virtual Map. Journal of The Korea Society of Computer and Information. 2009; 14(11) 31-40.
Hyung Il Kim. Path Planning for Cleaning Robots Using Virtual Map. 2009; 14(11), 31-40.
Hyung Il Kim. "Path Planning for Cleaning Robots Using Virtual Map" Journal of The Korea Society of Computer and Information 14, no.11 (2009) : 31-40.
