Development of Navigation System for Path Planning of Autonomous Cleaning Robot

Comparing with some widely used road impedance functions, this paper choose BPR model as base model of improvement, and determine the parameter of BPR model. We apply the improved model to vehicle navigation system in the path planning algorithm, and experiments proved that the model satisfies navigation path planning requirement and have universal performance.

Download Full-text

The Intelligent Robot Path Planning and Navigation System Based on Openlayers3 Online Map

Journal of Physics Conference Series ◽

10.1088/1742-6596/2025/1/012090 ◽

2021 ◽

Vol 2025 (1) ◽

pp. 012090

Author(s):

Liu Yang ◽

Limin Yu ◽

Sha Tao ◽

Zhenghong Yang ◽

Wanlin Gao ◽

...

Keyword(s):

Path Planning ◽

Navigation System ◽

Intelligent Robot ◽

Robot Path Planning ◽

Robot Path

Download Full-text

Modified A-Star Algorithm for Efficient Coverage Path Planning in Tetris Inspired Self-Reconfigurable Robot with Integrated Laser Sensor

Sensors ◽

10.3390/s18082585 ◽

2018 ◽

Vol 18 (8) ◽

pp. 2585 ◽

Cited By ~ 40

Author(s):

Anh Le ◽

Veerajagadheswar Prabakaran ◽

Vinu Sivanantham ◽

Rajesh Mohan

Keyword(s):

Path Planning ◽

Laser Sensor ◽

Coverage Area ◽

Operation System ◽

Coverage Path Planning ◽

Cleaning Robot ◽

Simulated Environment ◽

Planning Approach ◽

Reconfigurable Robot ◽

Set Up

Advancing an efficient coverage path planning in robots set up for application such as cleaning, painting and mining are becoming more crucial. Such drive in the coverage path planning field proposes numerous techniques over the past few decades. However, the proposed approaches were only applied and tested with a fixed morphological robot in which the coverage performance was significantly degraded in a complex environment. To this end, an A-star based zigzag global planner for a novel self-reconfigurable Tetris inspired cleaning robot (hTetro) presented in this paper. Unlike the traditional A-star algorithm, the presented approach can generate waypoints in order to cover the narrow spaces while assuming appropriate morphology of the hTtero robot with the objective of maximizing the coverage area. We validated the efficiency of the proposed planning approach in the Robot Operation System (ROS) Based simulated environment and tested with the hTetro robot in real-time under the controlled scenarios. Our experiments demonstrate the efficiency of the proposed coverage path planning approach resulting in superior area coverage performance in all considered experimental scenarios.

Download Full-text

A Navigation System for a High-Speed Professional Cleaning Robot

Towards Autonomous Robotic Systems - Lecture Notes in Computer Science ◽

10.1007/978-3-642-23232-9_3 ◽

2011 ◽

pp. 24-35 ◽

Cited By ~ 1

Author(s):

Gorka Azkune ◽

Mikel Astiz ◽

Urko Esnaola ◽

Unai Antero ◽

Jose Vicente Sogorb ◽

...

Keyword(s):

Navigation System ◽

High Speed ◽

Cleaning Robot

Download Full-text

A Tromino Tiling Theoretic Approach to Path Planning in a Reconfigurable Floor Cleaning Robot

2018 International Conference on Reconfigurable Mechanisms and Robots (ReMAR) ◽

10.1109/remar.2018.8449829 ◽

2018 ◽

Cited By ~ 2

Author(s):

Prabakaran Veerajagadheswar ◽

Mohan Rajesh Elara ◽

Pathmakumar Thejus ◽

Sivanantham Vinu

Keyword(s):

Path Planning ◽

Theoretic Approach ◽

Cleaning Robot

Download Full-text

Coverage Path Planning for Cleaning Robot Adapted to Biased Dirt Distribution

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2016.1a1-13b4 ◽

2016 ◽

Vol 2016 (0) ◽

pp. 1A1-13b4 ◽

Cited By ~ 1

Author(s):

Takahiro SASAKI ◽

Guillemo ENRIQUEZ ◽

Takanobu MIWA ◽

Shuji HASHIMOTO

Keyword(s):

Path Planning ◽

Coverage Path Planning ◽

Cleaning Robot

Download Full-text

An Optimized Cleaning Robot Path Generation and Execution System using Cellular Representation of Workspace

10.5121/csit.2020.101502 ◽

2020 ◽

Author(s):

Qile He ◽

Yu Sun

Keyword(s):

Random Walk ◽

Path Planning ◽

Work Environment ◽

A Priori ◽

Path Generation ◽

Complete Coverage ◽

Cellular Decomposition ◽

Cleaning Robot ◽

Robot Path

Many robot applications depend on solving the Complete Coverage Path Problem (CCPP). Specifically, robot vacuum cleaners have seen increased use in recent years, and some models offer room mapping capability using sensors such as LiDAR. With the addition of room mapping, applied robotic cleaning has begun to transition from random walk and heuristic path planning into an environment-aware approach. In this paper, a novel solution for pathfinding and navigation of indoor robot cleaners is proposed. The proposed solution plans a path from a priori cellular decomposition of the work environment. The planned path achieves complete coverage on the map and reduces duplicate coverage. The solution is implemented inside the ROS framework, and is validated with Gazebo simulation. Metrics to evaluate the performance of the proposed algorithm seek to evaluate the efficiency by speed, duplicate coverage and distance travelled.

Download Full-text