Navigation of cleaning robots using triangular-cell map for complete coverage

Joon Seop Oh, Yoon Ho Choi, Jin Bae Park, Yuan F. Zheng

Research output: Contribution to journalConference article

14 Citations (Scopus)


A novel approach for navigation of cleaning robots in an unknown workspace is presented which includes a new map representation method and a complete coverage navigation mechanism. 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 with no 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 to that rectangular cell map.

Original languageEnglish
Pages (from-to)2006-2011
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2003 Dec 9
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19


All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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