A Practical Robot Coverage Algorithm for Unknown Environments

摘要

While there has been substantial research on coverage and SLAM algorithms, to our knowledge no previous research has considered using each of these algorithms with a service robot. As a result, the performance of these robots is less than adequate for most consumers, especially when the robots only rely on SLAM algorithms for their coverage services in an unknown environment. To address this problem, we propose a new coverage algorithm, AmaxCoverage, an area-maximizing coverage algorithm that efficiently integrates the SLAM solution. Our experimental results show that the AmaxCoverage algorithm outperforms previous representative coverage algorithms in unknown environments and therefore will increase consumers' confidence toward service robots.