Abstract
With regard to the inefficiency of random path planning method used by many indoor cleaning robots,a low-cost and efficient improvement method was proposed in this paper.The main idea was that the distance between the robot and its surrounding obstacles varied with the location of working robot.First,ultrasound distance measurement was used for obtaining the distances to form the feature vector which could identify different locations in work place.Then feature matching problem was solved by Earth Move's Distance(EMD),and the set of collision points was established.At last,fuzzy control theory was used for controlling rotation angle after collision to finish path planning procedure.As shown on the experiments,the proposed method can not only reserve the property of enjoyment and environment flexibility,but also promote the efficiency greatly.
Published Version
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