The on-line coverage algorithm and localization technique of the intelligent cleaning robot

Abstract

In the past mobile robot research was often focused to various kinds of point-to-point transportation tasks. Floor cleaning require the complete-coverage of an unstructured environment (real indoor environments). The complete-coverage algorithm herein proposed is Choset's algorithm. The system determines the distance between robot and obstacles by calculating the local minima of the range measurements with 16 sensors, and senses the critical point. Then Choset's algorithm can be executed. In order to deal with complex local environment, the system adopts local-coverage algorithm. The orientation of the robot must be considered whether using the complete-coverage algorithm or using the typical motion patterns. The robot uses a sensor package that includes encoders, a gyroscope, and 16 ultrasonic sensors. Thereinto, encoders, accelerometers, and gyroscope is used as a pose measure system, where sensor fusion is accomplished using an extended Kalman filter. 16 ultrasonic sensors are used to measure the distance to the obstacle.

Behavior Based Complete Coverage Task of Unknown Area by an Autonomous Mobile Robot SCORPION with Static Obstacles in Environment

“…It is a very complex task which can be defined in many ways depending on the shape of the environment or its surface, absence or presence of obstacles, possibility of their movement and map's availability or its lack in control system of the robot. There are many publication which describes how to cover the surface completely when the map is available [8,9,10,11], but there is a very small number of publications, which describe, how to accomplish this task when the map of environment is not using during the mission. It is the most difficult and complex navigational problem, especially when we take into account the static and dynamic obstacles, which can appear around the robot [1,2].…”