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
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;
Conference_Titel :
Consumer Electronics (ICCE), 2013 IEEE International Conference on
Conference_Location :
Las Vegas, NV
Print_ISBN :
978-1-4673-1361-2
DOI :
10.1109/ICCE.2013.6486798
