Modeling floor-cleaning coverage performances of some domestic mobile robots in a reduced scenario
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Date
2010
Authors
Pallejà Cabrè, Tomàs
Tresánchez Ribes, Marcel
Teixidó Cairol, Mercè
Palacín Roca, Jordi
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Abstract
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.
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Robotics and Autonomous Systems, 2010, vol. 58, núm. 1, p. 37-45