Suitable algorithm for covering surface using PR23

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Suitable algorithm for covering surface using PR23

Postby gann5455 » Fri Oct 08, 2010 2:42 am

I was doing a project on something called i-roomba, here i have the question to ask, i was using the pr23 as the test robot, what i want to know is, what is the suitable algorithm to use, if i want the robot to cover all surface area in space, let say in a room... do help me with this, coz i really need your help... and one more thing, is it posible to do the covering surface with the analogue sensor only?
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Re: Suitable algorithm for covering surface using PR23

Postby kl84 » Fri Oct 08, 2010 12:56 pm

If not mistaken, the actual i-roomba from i-robot is just running through the floor randomly. It covered almost the whole surface because of long time operation. There're still some place where it missed. I'm not sure about the latest i-roomba or any other model, but the old ones doesn't have mapping algorithm at all.

PR23 alone seems like not a good solution for your application unless you make some modification to it. You will need to eliminate the deviation error of the robot while moving around coz i cant see any feedback sensor like encoder at the motor part. I believe this kind of modified rc servo cant give you constant performance. For example, this robot may gradually move to right hand side even when you program it to move straight forward. You can have a try and see. If it cant move in the way you want, you cant cover the whole space even you applied the best algorithm to it. Of cause i'm talking about a perfect outcome. If you don't need 100% coverage, there's nothing to worry about it :lol:
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Re: Suitable algorithm for covering surface using PR23

Postby ober » Mon Oct 11, 2010 10:54 am

Yup, kl84 is right. i-roomba is using random method to cover the floor space. Modification is necessary if PR23 is going to be used for that purpose.

You might need to change the motor to provide better performance.
Ober Choo
Cytron Technologies Sdn Bhd
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