A navigation system for a high-speed professional cleaning robot

Authors:
Gorka Azkune;Mikel Astiz;Urko Esnaola;Unai Antero;Jose Vicente Sogorb;Antonio Alonso
Affiliations:
Industrial Systems Unit, Tecnalia, Donostia, Spain;Industrial Systems Unit, Tecnalia, Donostia, Spain;Industrial Systems Unit, Tecnalia, Donostia, Spain;Industrial Systems Unit, Tecnalia, Donostia, Spain;Acciona R+D, Madrid, Spain;Acciona R+D, Madrid, Spain
Venue:
TAROS'11 Proceedings of the 12th Annual conference on Towards autonomous robotic systems
Year:
2011

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Abstract

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.