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Practical Intelligent Cleaning Robot Algorithm Based on Grouping in Complex Layout Space

복잡한 공간에서 그룹화 기반의 실용적 지능형 청소 로봇 알고리즘

  • 조재욱 (홍익대학교 컴퓨터공학과) ;
  • 노삼혁 (홍익대학교 컴퓨터공학과) ;
  • 전흥석 (건국대학교 컴퓨터응용과학부)
  • Published : 2006.05.01

Abstract

The random-based cleaning algorithm is a simple algorithm widely used in commercial vacuum cleaning robots. This algorithm has two limitations, that is, cleaning takes a long time and there is no guarantee that the cleaning will cover the whole cleaning area. This has lead to customer dissatisfaction. Thus, in recent years, many intelligent cleaning algorithms that takes into consideration information gathered from the cleaning area environment have been proposed. The plowing-based algorithm, which is the most efficient algorithm known to date when there are no obstacles in the cleaning area, has a deficiency that when obstacle prevail, its performance is not guaranteed. In this paper, we propose the Group-k algorithm that is efficient for that situation, that is, when obstacle prevail. The goal is not to complete the cleaning as soon as possible, but to clean the majority of the cleaning area as fast as possible. The motivation behind this is that areas close to obstacles are usually difficult for robots to handle, and hence, many require human assistance anyway In our approach, obstacles are grouped by the complexity of the obstacles, which we refer to as 'complex rank', and then decide the cleaning route based on this complex rank. Results from our simulation-based experiments show that although the cleaning completion time takes longer than the plowing-based algorithm, the Group-k algorithm cleans the majority of the cleaning area faster than the plowing algorithm.

Keywords

References

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