CONTROL METHOD FOR A ROBOT CLEANER

摘要

PURPOSE: A control method of a robot cleaner is provided to reduce travelling time of a robot cleaner due to the following of obstacles since the robot cleaner moves along rotation trace having center of rotation and radius of rotation. CONSTITUTION: A control method of a robot cleaner comprises the following steps. Whether a robot cleaner traces an obstacle or not is determined(200). The controller reads an obstacle sensor value which is an output signal of a sensing unit(210). If the obstacle is detected, the controller rotates the robot cleaner on the detected obstacle at an arbitrary angle(230). A spiral trace is calculated using the rotation angle as a starting angle(240). The controller moves the center of the robot cleaner along the spiral trace and spirally moves the robot cleaner(250).