Autonome Mobile Systeme 2009 pp 65-72
A Vision-Based Trajectory Controller for Autonomous Cleaning Robots
- 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
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.
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