청소 로봇의 회전 반경을 고려한 청소 영역 오버랩 균등 분배 기반 경로 계획 효율화 방법
An Efficient Path Planning Method for Cleaning Robots considering Turning Radius and Equitable Distribution of Overlapping Cleaning Areas
0
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
Automating cleaning processes using cleaning robots in environments like Agricultural Products Processing Centers (APC), where a lot of contaminants are generated, is crucial. However, cleaning robots applied in such environments tend to be larger in order to ensure sufficient capacity of the cleaning container and suction power. Due to this structure, they perform driving in the divided cleaning areas by a non-sequential (spiral) manner, causing overlap between the areas and significantly reducing the efficiency of the cleaning robot. This paper proposes a method that defines cleaning areas based on robot specifications during navigation, then divides the entire cleaning range to evenly distribute overlap. The proposed method demonstrates superior performance in terms of path efficiency, covering the cleaning area with approximately 17% less cost over the entire path length due to the optimization of the space division technique. Notably, it achieves a 100% coverage rate, perfectly covering all cleaning areas. With path duplication and deviation rates at 16.67% and 0% respectively, it demonstrates high efficiency in path generation, not deviating from the route while maintaining a low rate of overlap.
Abstract
Automating cleaning processes using cleaning robots in environments like Agricultural Products Processing Centers (APC), where a lot of contaminants are generated, is crucial. However, cleaning robots applied in such environments tend to be larger in order to ensure sufficient capacity of the cleaning container and suction power. Due to this structure, they perform driving in the divided cleaning areas by a non-sequential (spiral) manner, causing overlap between the areas and significantly reducing the efficiency of the cleaning robot. This paper proposes a method that defines cleaning areas based on robot specifications during navigation, then divides the entire cleaning range to evenly distribute overlap. The proposed method demonstrates superior performance in terms of path efficiency, covering the cleaning area with approximately 17% less cost over the entire path length due to the optimization of the space division technique. Notably, it achieves a 100% coverage rate, perfectly covering all cleaning areas. With path duplication and deviation rates at 16.67% and 0% respectively, it demonstrates high efficiency in path generation, not deviating from the route while maintaining a low rate of overlap.
참고문헌 (17)
- X. Chen, "Implementation of the Manufacturing Execution System in the food and beverage industry", Journal of Food Engineering, 278, pp.109932~ (2020)[DOI]
- E. Prassler, "A short history of cleaning robots", Autonomous Robots, 9, pp.211~226 (2000)[DOI]
- A. Kolling, "Surveillance Strategies for Target Detection with Sweep Lines", 2009 IEEE, 2009, 5821~5827
- K. M. Hasan, "Path Planning Algorithm Development for Autonomous Vacuum Cleaner Robots", 2014 International Conference on Informatics, Electronics &Vision (ICIEV), pp.1~6 (2014)
- J. Kwak, "Divide Cleaning Area Method for Multi-cleaning Robots Using Manufacturing Execution Systems Based on Contaminationlevel Estimation", Journal of Institute of Control, Robotics and Systems, 29(10), pp.787~793 (2023)[DOI]
- P. Bhattacharya, "Voronoi Diagram in Optimal Path Planning", 4th International Symposium on Voronoi Diagrams in Science and Engineering, pp.38~47 (2007)
- F. Aurenhammer, "Voronoi Diagrams—a Survey of a Fundamental Geometric Data Structure", ACM Computing Surveys(CUSR), 23(3), pp.345~405 (1991)[DOI]
- A. Ch. Kapoutsis, "DARP : Divide Areas Algorithm for Optimal Multi-Robot Coverage Path Planning", Journal of Intelligent & Robotic Systems, 86, pp.663~680 (2017)[DOI]
- V. G. Nair, "MR-SimExCoverage : Multirobot Simultaneous Exploration and Coverage", Computers &Electrical Engineering, 85 (2020)[DOI]
- V. G. Nar, "GM-VPC : An Algorithm for Multi-robot Coverage of Known Spaces Using Generalized Voronoi Partition", Robotica, 38(5), pp.845~860 (2020)[DOI]
- C. Hofner, "Path Planning and Guidance Techniques for an Autonomous Mobile Cleaning Robot", Robotics and autonomous systems, 14(2-3), pp.199~212 (1995)[DOI]
- A. Khan, "On Complete Coverage Path Planning Algorithms for Non-holonomic Mobile Robots : Survey and Challenges", Journal of Information Science and Engineering, 33(1), pp.101~121 (2017)
- H. Choset, "Coverage of known spaces : The boustrophedon cellular decomposition", Autonomous Robots, 9, pp.247~253 (2000)[DOI]
- T. R. Schäfle, "Coverage path planning for mobile robots using genetic algorithm with energy optimization", 2016 International Electronics Symposium (IES), pp.99~104 (2016)
- C. -W. Jeon, "Design and validation testing of a complete paddy field-coverage path planner for a fully autonomous tillage tractor", Biosystems Engineering, 208, pp.79~97 (2021)[DOI]
- X. Han, "Application of a 3D tractor-driving simulator for slip estimation-based path-tracking control of auto-guided tillage operation", Biosystems Engineering, 178, pp.70~85 (2019)[DOI]
- H. Liu, "Sensor-based complete coverage path planning in dynamic environment for cleaning robot", CAAI Transactions on Intelligence Technology, 3(1), pp.65~72 (2018)[DOI]