A Navigation System for a High-Speed Professional Cleaning Robot
This paper describes an approach to automate professional floor cleaning tasks based on a commercial platform. The described navigation system works in indoor environments where no extra infrastructure is needed and with no previous knowledge of it. A teach&reproduce strategy has been adopted for this purpose. During teaching, the robot maps its environment and the cleaning path. During reproduction, the robot uses a new motion planning algorithm to follow the taught path whilst avoiding obstacles suitably. The new motion planning algorithm is needed due to the special platform and operational requirements. The system presented here is focused on achieving human comparable performance and safety.
KeywordsNavigation System Motion Planning Obstacle Avoidance Occupancy Grid Motion Planning Algorithm
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