The on-line coverage algorithm and localization technique of the intelligent cleaning robot

摘要

In the past mobile robot research was often focused to various kinds of point-to-point transportation tasks. Floor cleaning require the complete-coverage of an unstructured environment (real indoor environments). The complete-coverage algorithm herein proposed is Choset's algorithm. The system determines the distance between robot and obstacles by calculating the local minima of the range measurements with 16 sensors, and senses the critical point. Then Choset's algorithm can be executed. In order to deal with complex local environment, the system adopts local-coverage algorithm. The orientation of the robot must be considered whether using the complete-coverage algorithm or using the typical motion patterns. The robot uses a sensor package that includes encoders, a gyroscope, and 16 ultrasonic sensors. Thereinto, encoders, accelerometers, and gyroscope is used as a pose measure system, where sensor fusion is accomplished using an extended Kalman filter. 16 ultrasonic sensors are used to measure the distance to the obstacle.