Complete Coverage Path Planning of Wall-Cleaning Robot Using Visual sensor

A design and implication of a complete coverage path planning system based on visual sensor for wall-climbing robot is proposed in this paper. The visual sensor composed of an oriented CCD camera and two laser diodes helps robot align with walls and keep the robot stay in the planned path. The robot also can real-time inspect the obstacles on the planned path and carry out the obstacle avoidance manner with the help of visual sensor, thus the robot can complete the cleaning task efficiently in an environment with unexpected static obstacles. The wall-cleaning robot adopts a complete coverage cleaning strategy and executes back-and-forth cleaning task. The experiment on complete coverage path planning and the motion control system has been carried out in order to examine the performance of the proposed navigation design based on visual sensors. The experimental results verify the effectiveness of the proposed approach.