| 摘要 |
A method for driving a robot cleaner in a cleaning area is provided to minimize a skipped area between cells in cleaning a floor by driving a circular cleaning area including rectangular cells and overlapping the circular area containing cell even despite generation of space between the cell and cell due to deviation between real driven length and moved position. A method for driving a robot cleaner in a cleaning area comprises steps of setting a circular cleaning area having a radius as long as the current position of the robot cleaner passes in a cell cleaning mode(S110,S120); driving a motor to straightly move from the current position inward the set cleaning area(S130); analyzing whether to move out of the cleaning area by using information about the straight movement and stopping operation of the motor if moving out of the cleaning area(S140,S150); converting the moving direction from the stopped position, moving to a predetermined distance, and then moving to the next straight line(S160); and driving the motor to straightly move inward the set cleaning area and moving to a start point of the next cell when the moved position is a finish point of the previous cell(S170,S180).
|
