PERCEPTION
An efficient path planning method for a cleaning robot based on ceiling vision
Jun Ho Park, WooYeon Jeong, Hyoung-Ki Lee, Jonghwa Won
- Year
- 2013
- Citations
- 7
Abstract
We propose an efficient path planning method based on an algorithm that aligns the geometric pattern of a ceiling with the heading angle of a cleaning robot. This algorithm results in a 22% faster cleaning time for a well-aligned cleaning path. We implemented and verified our proposed method for a cleaning robot using a ceiling vision simultaneous localization and mapping (SLAM) algorithm.
Keywords
Ceiling (cloud)Computer visionMotion planningHeading (navigation)RobotComputer scienceMobile robotArtificial intelligencePath (computing)Simultaneous localization and mapping
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