Abstract
Nowadays, many mobile robots are developed to automate the cleaning task. The motion algorithms for cleaning task are roughly classified into two groups: planning type and reactive type. Reactive type algorithms are rather practical, and often used in commercial cleaning robots. However, when such a robot gets into a narrow area surrounded by obstacles, the robot cannot readily get out of the area. This causes the unefficiency of the cleaning task. Addressing to this problem, we propose a method to estimate the status of the robot using equipped sensors. We made a simulator to confirm the effect of the proposed method.
