제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.120.3-120
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- 2001
Path Planning for Cleaning Robots: A Graph Model Approach
- Yun, Sang-Hoon (Kyungpook National Univ.) ;
- Park, Se-Hun (Kyungpook National Univ.) ;
- Park, Byung-Jun (Kyungpook National Univ.) ;
- Lee, Yun-Jung (Kyungpook National Univ.)
- Published : 2001.10.01
Abstract
We propose a new method of path planning for cleaning robots. Path planning problem for cleaning robots is different from conventional path planning problems in which finding a collision-free trajectory from a start point to a goal point is focused. In the case of cleaning robots, however, a planned path should cover all area to be cleaned. To resolve this problem in a systematic way, we propose a method based on a graph model as follows: at first, partition a given map into proper regions, then transform a divided region to a vertex and a connectivity between regions to an edge of a graph. Finally, a region is divided into sub-regions so that the graph has a unary tree which is the simplest Hamilton path. The effectiveness of the proposed method is shown by computer simulation results.
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