A study on the cleaning algorithm for autonomous mobile robot under the unknown environment

Abstract

So far, industrial robots have made significant contributions in manufacturing process and provided versatility to the flexible manufacturing systems (FMS). In recent years, the robot systems can be used for military purpose, medical operations, and home service as well as the previously industrial manufacturing systems. Especially, there has been an ever increasing interest in mobile robot for home services. However, issues currently being investigated for path planning of the mobile robot are concentrated to solving the problem of finding the optimal path from the initial location to the final location under the given performance indices. In this study, we propose a new cleaning algorithm for autonomous mobile robot to cover the whole closed area under the unknown environment. It is verified by computer simulation for the changing environment conditions.