掃引ロボットの移動誤差を考慮した経路計画の提案

抄録

The current sweeping robot incompletely sweeps all areas due to the movement instability. This paper describes three path planning ways, 1) all cells traveling, 2) edge cells traveling, 3) dynamic rearrange, to solve this problem. The sweep field assigns 400 cells in this paper. The first way strictly determines where the robot travels to the next traveling cell and the robot linearly runs between two edge cells in the second way. This paper furthermore describes a way based on the nearest neighbor search. The first step of this way traces on same route of the edge cells traveling and the second step calculates new route the robot just travel to some unreached cells after the first step. We verify the performance of each way from four criteria of non-sweeping rate, the total length of traveling path, the sweeping time and the environmental load.