Woo-yeon Jeong

Virtual door algorithm for coverage path planning of mobile robot

This paper presents a novel coverage path planning algorithm for a mobile robot in indoor environment. Overall region is divided into several sub-regions based on the virtually extracted doors. The key idea of this method was obtained from the usual way of dividing an indoor environment into sub-regions, i.e., rooms based on the identification of doors. The proposed virtual door algorithm extracts the virtual doors by overlapping a Generalized Voronoi Diagram (GVD) and a configuration space eroded by the half of the door size. The region to region cleaning algorithm is also proposed based on the closing and opening of virtual doors. The performance of our algorithm has been tested on various real indoor environments using a commercially available cleaning robot.

Virtual Door-Based Coverage Path Planning for Mobile Robot

This paper presents a novel coverage path planning method in indoor environment for a mobile robot such as cleaning robot. Overall region is divided into several sub-regions based on the virtually extracted doors. The algorithm is inspired from the usual way of dividing an indoor environment into sub-regions, i.e., rooms based on the identification of doors. The virtual door algorithm extracts the virtual doors by combining a Generalized Voronoi Diagram (GVD) and a configuration space eroded by the half of the door size. The region to region cleaning algorithm is also proposed based on the closing and opening operations of virtual doors. The performance of the proposed algorithm has been tested on various real indoor environments using a commercially available cleaning robot.

An efficient path planning method for a cleaning robot based on ceiling vision

We propose an efficient path planning method based on an algorithm that aligns the geometric pattern of a ceiling with the heading angle of a cleaning robot. This algorithm results in a 22% faster cleaning time for a well-aligned cleaning path. We implemented and verified our proposed method for a cleaning robot using a ceiling vision simultaneous localization and mapping (SLAM) algorithm.