Abstract
This paper presents a novel approach for navigation of cleaning robots in an unknown workspace. To do so, we propose a new map representation method as well as a complete coverage navigation method. First, we discuss a triangular cell map representation which makes the cleaning robot navigate with a shorter path and increased flexibility than a rectangular cell map representation. Then, we propose the complete coverage navigation and map construction methods which enable the cleaning robot to navigate the complete workspace without complete information about the environment. Finally, we evaluate the performance of our proposed triangular cell map via the existing distance-transform-based path-planning method comparing it to that of the rectangular cell map. Also, we verify the effectiveness of the proposed methods through computer simulations.
| Original language | English |
|---|---|
| Pages (from-to) | 718-726 |
| Number of pages | 9 |
| Journal | IEEE Transactions on Industrial Electronics |
| Volume | 51 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 2004 Jun 1 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
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Complete coverage navigation of cleaning robots using triangular-cell-based map. / Oh, Joon Seop; Choi, Yoon Ho; Park, Jin Bae; Zheng, Yuan F.
In: IEEE Transactions on Industrial Electronics, Vol. 51, No. 3, 01.06.2004, p. 718-726.Research output: Contribution to journal › Article
TY - JOUR
T1 - Complete coverage navigation of cleaning robots using triangular-cell-based map
AU - Oh, Joon Seop
AU - Choi, Yoon Ho
AU - Park, Jin Bae
AU - Zheng, Yuan F.
PY - 2004/6/1
Y1 - 2004/6/1
N2 - This paper presents a novel approach for navigation of cleaning robots in an unknown workspace. To do so, we propose a new map representation method as well as a complete coverage navigation method. First, we discuss a triangular cell map representation which makes the cleaning robot navigate with a shorter path and increased flexibility than a rectangular cell map representation. Then, we propose the complete coverage navigation and map construction methods which enable the cleaning robot to navigate the complete workspace without complete information about the environment. Finally, we evaluate the performance of our proposed triangular cell map via the existing distance-transform-based path-planning method comparing it to that of the rectangular cell map. Also, we verify the effectiveness of the proposed methods through computer simulations.
AB - This paper presents a novel approach for navigation of cleaning robots in an unknown workspace. To do so, we propose a new map representation method as well as a complete coverage navigation method. First, we discuss a triangular cell map representation which makes the cleaning robot navigate with a shorter path and increased flexibility than a rectangular cell map representation. Then, we propose the complete coverage navigation and map construction methods which enable the cleaning robot to navigate the complete workspace without complete information about the environment. Finally, we evaluate the performance of our proposed triangular cell map via the existing distance-transform-based path-planning method comparing it to that of the rectangular cell map. Also, we verify the effectiveness of the proposed methods through computer simulations.
UR - http://www.scopus.com/inward/record.url?scp=2942661838&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=2942661838&partnerID=8YFLogxK
U2 - 10.1109/TIE.2004.825197
DO - 10.1109/TIE.2004.825197
M3 - Article
AN - SCOPUS:2942661838
VL - 51
SP - 718
EP - 726
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 3
ER -