제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2001년도 ICCAS
- /
- Pages.129.3-129
- /
- 2001
Triangular Cell Map Based Complete Coverage Navigation Method for Cleaning Robot
- Oh, Joon-Seop (Yonsei Univ.) ;
- Park, Jin-Bae (Yonsei Univ.) ;
- Park, Yoon-Ho (Kyonggi Univ.)
- 발행 : 2001.10.01
초록
In this paper, a novel navigation method is presented for the cleaning robot in the unknown workspace. In order to do this, we propose a new map representation method and a complete coverage navigation method. First, we discuss a triangular cell map representation which makes the cleaning robot navigate with shorter path and increased flexibility than a rectangular cell map representation. Then we proposed a complete coverage navigation and map construction method which the cleaning robot can navigate the complete workspace although it has perfectly no information about environment. Finally, we evaluate the performance of our proposed triangular cell map comparing to that of the rectangular cell map via the existing ...
키워드