In this paper, we propose an algorithm of real time path adaptation for sweeping tasks by autonomous mobile robot. Sweeping means a motion that a robot covers a 2-dimensional area. A robot driven by model based path planner has to arrange its path according to real contour in real time because its map can have errors. We apply reactive motions to traditional path planning method. The proposed algorithm interprets global constraints for a sweeping task into local constraints which describerelationship between elements of a map and curves which consists of a sweeping path. An autonomous robot can obtain local conditions according to the algorithm and adjusts its path by reactive motions without heavy calculation. We verify the efficiency of the algorithm by simulations and an experiment with actual autonomous mobile robot.
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