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JRM Vol.30 No.1 pp. 5-14
doi: 10.20965/jrm.2018.p0005
(2018)

Paper:

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Adaptive Path Planning for Cleaning Robots Considering Dust Distribution

Takahiro Sasaki*, Guillermo Enriquez**, Takanobu Miwa**, and Shuji Hashimoto**

*School of Advanced Science and Engineering, Waseda University
3-4-1 Okubo, Shinjuku-ku, Tokyo 165-8555, Japan

**Faculty of Science and Engineering, Waseda University
3-4-1 Okubo, Shinjuku-ku, Tokyo 165-8555, Japan

Received:
February 28, 2017
Accepted:
June 30, 2017
Published:
February 20, 2018
Creative Commons License
Keywords:
cleaning robot, coverage path planning, region segmentation, genetic algorithm, dirt distribution
Abstract

Path-planning algorithms for cleaning robots typically focus on how the robots can cover an entire space while minimizing overlapping or uncleaned areas. However, when considering actual environments, the distribution of dust and dirt is not uniform and has some specific features according to the shape of the environment and human behaviors. Therefore, if a cleaning robot plans its path while taking this distribution into consideration, it can clean the area more efficiently. In this paper, we present a novel path-planning algorithm for cleaning robots that prioritizes regions with large quantities of dirt and sorts them. The effectiveness of the proposed algorithm was examined through experimental simulations.

Cleaning path considering dust distribution

Cleaning path considering dust distribution

Cite this article as:
T. Sasaki, G. Enriquez, T. Miwa, and S. Hashimoto, “Adaptive Path Planning for Cleaning Robots Considering Dust Distribution,” J. Robot. Mechatron., Vol.30 No.1, pp. 5-14, 2018.
Data files:
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Last updated on Apr. 22, 2024