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Title:
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Modeling floor-cleaning coverage performances of some domestic mobile robots in a reduced scenario
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Author:
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Pallejà Cabrè, Tomàs; Tresánchez Ribes, Marcel; Teixidó Cairol, Mercè; Palacín Roca, Jordi
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Notes:
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In this paper, floor-cleaning coverage performances of some domestic mobile robots are measured,
analyzed and modeled. Results obtained in a reduced scenario show that floor-cleaning coverage
is complete in all cases if the path-planning exploration algorithm has some random dependence.
Additionally, the evolution of the area cleaned by the mobile robot expressed in a distance domain
has an exponential shape that can be modeled with a single exponential where the amplitude defines
the maximum cleaning-coverage achieved and the time-constant defines the dynamic evolution of the
coverage. Both parameters are robot dependent and can be estimated if the area of the room is known
and then floor-cleaning coverage can be predicted and over-cleaning minimized.
The work reported in this work was partially supported by Taurus |
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Subject(s):
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-Coverage
-Cleaning coverage
-Mobile robot
-Domestic robots |
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Rights:
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(c) Elsevier, 2010
info:eu-repo/semantics/restrictedAccess |
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Document type:
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article
publishedVersion |
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Published by:
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Elsevier
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