| 摘要 |
A control system for a mobile robot (10) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode (51) and a random bounce mode (49). In other embodiments, spo t coverage, such as spiraling (45), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to impleme nt the control system, and various escape behaviors are used to ensure full coverage. |
