A Path Planning Method for Autonomous Sweeping Robot

摘要

The technology of robotics has been developed at a fast speed, and we have expected to introduce robots to our daily life. Some kinds of robots were already sold such as pet robots, sweeping robots and so on. Nowadays, the pet robots are popular, and many companies are competing to develop new cute robots. One of other popular robots is the sweeping robot. We think this type of robots is prospective, because these robots can release us from wearing jobs. Sweeping robot can help us to do housework at home and to clean up offices. But the sweeping operation of products is not efficient. Therefore, it takes a long time to finish the sweeping because the robot may move the same place repeatedly. In the current study, we will propose a path planning method for autonomous sweeping robot. In order to shorten the sweeping time as short as possible, we divided the path planning into two steps; they are ⑴ making the map of the room and ⑵ making the shortest path planning. As the solution method of problem, we propose to apply the Heuristic Search in step ⑴ and the Euler graph theory in step ⑵.