Modeling floor-cleaning coverage performances of some domestic mobile robots in a reduced scenario

Authors:
T. Palleja;M. Tresanchez;M. Teixido;J. Palacin
Affiliations:
Department of Computer Science and Industrial Engineering, Universitat de Lleida, Jaume II, 69. 25001 Lleida, Spain;Department of Computer Science and Industrial Engineering, Universitat de Lleida, Jaume II, 69. 25001 Lleida, Spain;Department of Computer Science and Industrial Engineering, Universitat de Lleida, Jaume II, 69. 25001 Lleida, Spain;Department of Computer Science and Industrial Engineering, Universitat de Lleida, Jaume II, 69. 25001 Lleida, Spain
Venue:
Robotics and Autonomous Systems
Year:
2010

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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.