移動ロボットのためのカバレッジアルゴリズム

―第1報：カバレッジアルゴリズムの提案とシミュレーション―

抄録

This paper describes new complete coverage algorithms for a mobile robot, called spiral-type complete coverage algorithm and along-wall-type complete coverage algorithm. These algorithms are for mobile robots moving in unknown environments, such as cleaning robots and exploration robots. The unknown environment is divided into grids, and the mobile robot moves to cover all reachable grids. Simulation results using the mobile robot validate the proposed algorithms.