| 摘要 |
discriminating whether a cleaner is positioned in an area such as a corridor form or in an area such as a hall form; if the cleaner is positioned in the area such as the corridor form, running the cleaner in parallel with the both walls of the corridor to circle the corridor and after u-turning the corridor, adjusting the interval of the cleaner with the both walls to correspond to the width of the cleaner; recycling the corridor; and if the cleaner is positioned in the area such as the hall form, obtaining pseudo parallel lines by the interval of the width of the cleaner, planning cleaning paths with zigzag paths in turn connecting the ends of the obtained parallel lines, and running the cleaner along the planned cleaning paths.
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