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Path Planning for Cleaning Robots Using Virtual Map

  • Journal of The Korea Society of Computer and Information
  • Abbr : JKSCI
  • 2009, 14(11), pp.31-40
  • Publisher : The Korean Society Of Computer And Information
  • Research Area : Engineering > Computer Science

Hyung Il Kim 1

1나사렛대학교

Accredited

ABSTRACT

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.

Citation status

* References for papers published after 2023 are currently being built.