Complete coverage navigation of clean robot based on triangular cell map

J. S. Oh, J. B. Park, Y. H. Choi

Research output: Contribution to conferencePaper

11 Citations (Scopus)

Abstract

This paper presents a novel navigation method of the clean robot in the unknown workspace. In order to do this, we propose a map representation method and a complete coverage navigation method. First, we discuss a triangular cell map representation which makes the clean robot navigate shorter path and more flexibly than a rectangular cell map representation due to the increase in the navigation direction. Then, we propose a complete coverage navigation and map construction method which enable the clean robot to navigate the workspace completely, although it has perfectly no information about environment. Finally, we evaluate the performance of our proposed triangular cell map comparing with that of the rectangular cell map via the existing distance transform path planning method. And we also verify the proposed complete coverage navigation method through several examples and computer simulations.

Original languageEnglish
Pages2089-2093
Number of pages5
Publication statusPublished - 2001
Event2001 IEEE International Symposium on Industrial Electronics Proceedings (ISIE 2001) - Pusan, Korea, Republic of
Duration: 2001 Jun 122001 Jun 16

Other

Other2001 IEEE International Symposium on Industrial Electronics Proceedings (ISIE 2001)
CountryKorea, Republic of
CityPusan
Period01/6/1201/6/16

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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  • Cite this

    Oh, J. S., Park, J. B., & Choi, Y. H. (2001). Complete coverage navigation of clean robot based on triangular cell map. 2089-2093. Paper presented at 2001 IEEE International Symposium on Industrial Electronics Proceedings (ISIE 2001), Pusan, Korea, Republic of.