A Vision-Based Trajectory Controller for Autonomous Cleaning Robots

  • Lorenz Gerstmayr
  • Frank Röben
  • Martin Krzykawski
  • Sven Kreft
  • Daniel Venjakob
  • Ralf Möller
Conference paper

DOI: 10.1007/978-3-642-10284-4_9

Part of the book series Informatik aktuell (INFORMAT)
Cite this paper as:
Gerstmayr L., Röben F., Krzykawski M., Kreft S., Venjakob D., Möller R. (2009) A Vision-Based Trajectory Controller for Autonomous Cleaning Robots. In: Dillmann R., Beyerer J., Stiller C., Zöllner J.M., Gindele T. (eds) Autonome Mobile Systeme 2009. Informatik aktuell. Springer, Berlin, Heidelberg

Abstract

Autonomous cleaning robots should completely cover the accessible area with minimal repeated coverage. We present a mostly visionbased navigation strategy for systematical exploration of an area with meandering lanes. The results of the robot experiments show that our approach can guide the robot along parallel lanes while achieving a good coverage with only a small proportion of repeated coverage. The proposed method can be used as a building block for more elaborated navigation strategies which allow the robot to systematically clean rooms with a complex workspace shape.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Lorenz Gerstmayr
    • 1
    • 2
  • Frank Röben
    • 1
  • Martin Krzykawski
    • 1
  • Sven Kreft
    • 1
  • Daniel Venjakob
    • 1
  • Ralf Möller
    • 1
    • 2
  1. 1.AG Technische Informatik, Technische FakultätUniversität BielefeldGermany
  2. 2.Exzellenzcluster Cognitive Interaction TechnologyUniversität BielefeldGermany