2019 Volume 2019 Pages 188-194
The sweeping robot plans path and moves along its prior path. However, the outdoor sweeping robot cannot move as expected. The uncertain movement of the robot is caused by some environmental disturbance such as unsmooth loose soil and wind. It can be improved by removing the disturbance, however it is difficult to remove the disturbance. For this reason, we consider path planning considering robot uncertainty because of environmental disturbance. This study considers only wind blow as a disturbance. We perform the simulation for sweeping entire area to investigate the effect on the prior path by the wind blow. Simulation results shows it is difficult to turn in the tailwind for the robot, and the moving cost is large. Moreover, it needs to turn for a long time to reach in target position when the angle between the robot direction and the direction to next target position from the robot is large, and the moving cost is large.
