Advances in International Computer Science

In recent years, as an important component of intelligent furniture, the sweeping robot has greatly improved the convenience of life, while precise positioning and full-area coverage as the core of the sweeping robots autonomous work have been widely studied. This paper aims to explore the integrated system of indoor positioning and area coverage of sweeping robots for large-scale indoor fixed scenes. Firstly, a multi-anchor positioning algorithm based on Moving Horizon Estimation (MHE) is proposed, which can greatly improve the positioning accuracy on the basis of reducing costs. At the same time, in order to improve the coverage efficiency and reduce the redundant movement of the sweeping robot, this paper uses the offline STC algorithm for area coverage, which is based on the robots unit coverage range. Allowing the robot to complete the coverage task and return to the starting point. In addition, Python is used for simulation experiments in this paper, and the experimental results verify that the system can complete full-area coverage by accurately estimating the position of the sweeping robot.

Robot vacuum cleaner; Multi-anchor state estimation; Area coverage