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

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.