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A performance comparison of coverage algorithms for simple robotic vacuum cleaners
KTH, School of Electrical Engineering and Computer Science (EECS).
2018 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
En prestandajämförelse av täckningsalgoritmer för enkla robotdammsugare (Swedish)
Abstract [en]

Cheap automatic robotic vacuum cleaners keep their cost down by having less sensors and many of them focus on using a single frontal bumper sensor, this makes it important to be able to get good coverage of a room with no knowledge of said room. This paper investigates whether the algorithm boustrophedon is enough to get a good coverage of a simple room with a maximum of two furnitures and only 90 degree corners.

A graphical simulation were made to test the algorithms that are commonly used in cheap automatic robotic vacuum cleaners to compare them with the result of only using boustrophedon. The results show that the best algorithms are the non-deterministic random walk and all combined. Boustrophedon tends to get stuck when the room is not empty and it only cleans half the room when starting in the middle of the room, while being the fastest and gets most coverage in an empty room when starting in a corner.

Abstract [sv]

Billiga automatiska dammsugare håller kostnaderna nere genom att minska antalet sensorer och många av dem använder endast en stötfångare med stötsensor framtill, vilket gör det viktigt att kunna få en bra täckning av ett rum utan vetskap om rummet. I denna rapport undersöks om algoritmen boustrophedon räcker för att få en bra täckning av ett enkelt rum med som mest två möbler och endast 90 graders hörn. En grafisk simulering gjordes för att testa de algoritmer som vanligtvis används i billiga automatiska dammsugare för att jämföra dem med resultatet av att endast använda boustrophedon. Resultaten visar att de bästa algoritmerna är den icke-deterministiska random walk och alla algoritmer kombinerade. Boustrophedon tenderar att fastna när rummet inte är tomt och den rengör bara hälften av rummet när man börjar i mitten av rummet, men den är snabbast och får mest täckning i ett tomt rum när man börjar i ett hörn.

Place, publisher, year, edition, pages
2018.
Series
TRITA-EECS-EX ; 2018:187
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-229676OAI: oai:DiVA.org:kth-229676DiVA, id: diva2:1213970
Subject / course
Computer Science
Educational program
Master of Science in Engineering - Computer Science and Technology
Supervisors
Examiners
Available from: 2018-06-20 Created: 2018-06-05 Last updated: 2018-06-20Bibliographically approved

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Robotics

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CiteExportLink to record
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