Abstract
Coverage path planning technique is an essential ingredient in every floor cleaning robotic systems. Even though numerous approaches demonstrate the benefits of conventional coverage motion planning techniques, they are mostly limited to fixed morphological platforms. In this article, we put forward a novel motion planning technique for a Tetris-inspired reconfigurable floor cleaning robot named “hTetro” that can reconfigure its morphology to any of the seven one-sided Tetris pieces. The proposed motion planning technique adapts polyomino tiling theory to tile a defined space, generates reference coordinates, and produces a navigation path to traverse on the generated tile-set with an objective of maximizing the area coverage. We have summarized all these aspects and concluded with experiments in a simulated environment that benchmarks the proposed technique with conventional approaches. The results show that the proposed motion planning technique achieves significantly higher performance in terms of area recovered than the traditional methods.
Highlights
Floor cleaning robots are becoming an integral part of every household that could improvise the productivity and quality of life through performing repetitive and timeconsuming task
We proposed an alternative design in the works of Prabakaran et al.[6] and Le et al.[7] to overcome these bottlenecks in the traditional cleaning platforms where we introduced a next-generation of reconfigurable floor cleaning robot named “hTetro” inspired from the game called Tetris
This article introduced a motion planning technique to achieve maximum area coverage in a Tetris-inspired shape-shifting robotic floor cleaner named hTetro that was based on the polyomino tiling theory
Summary
Floor cleaning robots are becoming an integral part of every household that could improvise the productivity and quality of life through performing repetitive and timeconsuming task. It is estimated that cleaning robots could reach a market value of USD 4.34 Billion in 2023, wherein the floor cleaning robots will hold a more significant share.[1] Even though the dominant market player iRobot, Neato, Samsung, and Xiaomi claims that they have sold millions of units, there exists numerous research challenges and open questions to be addressed. One primary attributes that curtail the efficacy of the floor cleaning robots is their fixed morphology
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