Complete coverage navigation of clean robot based on triangular cell map

This paper presents a novel navigation method of the clean robot in the unknown workspace. In order to do this, we propose a map representation method and a complete coverage navigation method. First, we discuss a triangular cell map representation which makes the clean robot navigate a shorter path and more flexibly than a rectangular cell map representation due to the increase in the navigation direction. Then, we propose a complete coverage navigation and map construction method which enables the clean robot to navigate the workspace completely, although it has perfectly no information about the environment. Finally, we evaluate the performance of our proposed triangular cell map compared with that of the rectangular cell map via the existing distance transform path planning method. We also verify the proposed complete coverage navigation method through several examples and computer simulations.