Abstract
path planning is a fundamental issue in mobile robotics. Even if the path planning methods for mobile ground-robots and those of wall-cleaning robots have a lot in common, the latter still feature some particular characteristics. In this paper, a new approach to path planning for wall-cleaning robots is presented based on an evaluation by the synthesis of standards. Considering the characteristics of the workspace, a mathematic model is proposed to describe the features of the work target. Cleaning trajectory is determined and evaluated by the synthesis of movement security, cleaning efficiency and the percentage of cleaning coverage. This paper presents the results of experiments on the sky cleaner robot for glass-wall cleaning, which demonstrate the efficiency and feasibility of the new approach.
Published Version
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