| 摘要 |
It is an object to provide a self-propelled cleaner which facilitates restricting the raising of the cost of the self-propelled cleaner and can positively clean uncleaned areas. The self-propelled cleaner is constructed in such a manner to calculate the minimum of values (L) obtained by using the following equation (1), from present coordinates (Xc, Yc) of a place where a body has been situated, and coordinates (Xn, Yn) of uncleaned areas stored by a mapping operation, specify an uncleaned area relating to the value (L) that is the minimum, causes the body to be traveled to the uncleaned area, and cleans the uncleaned area. <?in-line-formulae description="In-line Formulae" end="lead"?>L=(Xc-Xn)2+(Yc-Yn)2 Equation (1). <?in-line-formulae description="In-line Formulae" end="tail"?>
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