DocumentCode
1686047
Title
An efficient path planning method for a cleaning robot based on ceiling vision
Author
Junho Park ; WooYeon Jeong ; Hyoung-Ki Lee ; Jonghwa Won
Author_Institution
Samsung Adv. Inst. of Technol., Yongin, South Korea
fYear
2013
Firstpage
67
Lastpage
69
Abstract
We propose an efficient path planning method based on an algorithm that aligns the geometric pattern of a ceiling with the heading angle of a cleaning robot. This algorithm results in a 22% faster cleaning time for a well-aligned cleaning path. We implemented and verified our proposed method for a cleaning robot using a ceiling vision simultaneous localization and mapping (SLAM) algorithm.
Keywords
SLAM (robots); mobile robots; path planning; robot vision; service robots; ceiling geometric pattern alignment; ceiling vision SLAM algorithm; ceiling vision simultaneous localization-and-mapping algorithm; cleaning path alignment; cleaning robot heading angle; cleaning time; path planning method; Algorithm design and analysis; Cleaning; Feature extraction; Path planning; Robot kinematics; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Consumer Electronics (ICCE), 2013 IEEE International Conference on
Conference_Location
Las Vegas, NV
ISSN
2158-3994
Print_ISBN
978-1-4673-1361-2
Type
conf
DOI
10.1109/ICCE.2013.6486798
Filename
6486798
Link To Document