| Summary: | 碩士 === 國立成功大學 === 工程科學系碩博士班 === 93 === With the advance of information technology, digital communication products have been used in our daily life vastly; with a perspective of all digital life. Robot appliances too have been extensively researched and developed. The main prospect is for the robots to do works automatically while the owners are busy at work. This thesis focuses on the complete coverage path planning of a robot home cleaner and proposes a new planning technique for more efficient coverage and dead lock escape. An algorithm for the home cleaning robots is written with the integration of both software and hardware systems. A mobile vehicle is used to simulate a robot cleaner engaging in the route planed with the new technique.
We propose a set of home cleaning algorithms of complete coverage path planning, which guarantees the robot will clean all the corners of an environment. The algorithms performed include wall-following cleaning module, basic complete coverage clean rule, corner revision, deadlock escaping path transform, and recharging procedure, aiming at achieving the shortest cleaning path and minimum accumulation of turning angle. Finally, the cleaning robot is guided automatically through the wireless network and given the complete coverage path planned to simulate real navigations.
|
|---|
