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)

Abstract

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
Volume2
Publication statusPublished - 2003 Dec 9
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19

Fingerprint

Cleaning
Navigation
Robots
Motion planning
Mathematical transformations

All Science Journal Classification (ASJC) codes

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

Cite this

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Navigation of cleaning robots using triangular-cell map for complete coverage. / Oh, Joon Seop; Choi, Yoon Ho; Park, Jin Bae; Zheng, Yuan F.

In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 2, 09.12.2003, p. 2006-2011.

Research output: Contribution to journalConference article

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AU - Oh, Joon Seop

AU - Choi, Yoon Ho

AU - Park, Jin Bae

AU - Zheng, Yuan F.

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N2 - 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.

AB - 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.

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