User-centered approach to path planning of cleaning robots: analyzing user's cleaning behavior

Authors:
Hyunjin Kim;Hyunjeong Lee;Stanley Chung;Changsu Kim
Affiliations:
Samsung Advanced Institute of Technology, Kyung-Gi Do, Korea;Samsung Advanced Institute of Technology, Kyung-Gi Do, Korea;Samsung Advanced Institute of Technology, Kyung-Gi Do, Korea;Samsung Advanced Institute of Technology, Kyung-Gi Do, Korea
Venue:
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Year:
2007

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Abstract

Current research on robot navigation is focused on clear recognition of the map and optimal path planning. The human cleaning path is, however, not optimal regarding time but optimal to the cleaning purpose. We have analyzed in this paper the cleaning behaviors in home environments and understood the user's path planning behaviors through usage tests of various vacuuming robots. We discovered that the actual user cleans with methods unique to specific areas of the house rather than following an optimal cleaning path. We not only suggest a path planning method for the vacuuming robot by using a layered map, but also a cleaning area designating method reflecting each area's characteristics. Based on these, we have designed a vacuuming robot's actions.