Exploring Grid Spiral Pathing For Room Coverage

Presenter

Daniel Brandao Araujo

Group Members

Tien Luc Nguyen

Campus

Quinsigamond Community College

Sponsor

Hao Loi, Department of Computer Science, Quinsigamond Community College

Schedule

Session 2, 11:30 AM - 12:15 PM [Schedule by Time][Poster Grid for Time/Location]

Location

Poster Board A37, Campus Center Auditorium, Row 2 (A21-A40) [Poster Location Map]

Abstract

This study delves into the use of a Roomba cleaning robot to assess the efficacy of grid spiral pathing for room coverage. By exploring how grid spiral pathing fares in various room shapes and sizes, the study aims to provide insights into its effectiveness and applicability in real-world scenarios. The investigation delves into multiple criteria, including coverage capacity, adaptability to changing environments, and comparison with alternative pathing methods

As grid spiral pathing expands, it gradually adopts a square-like coverage pattern, a characteristic that may present challenges in rooms with non-square dimensions. Given that perfect square rooms are rare in real-world settings, the study seeks to address the question of how to optimize coverage in irregularly shaped rooms, such as rectangles or circular ones.

To tackle this challenge, the study proposes leveraging LiDAR technology to map the room and subsequently applying the Quadtree Algorithm. This approach involves partitioning the room into several sections and generating the largest possible spirals within each designated area. Additionally, the algorithm adapts by creating smaller spirals in tight corners and confined spaces to ensure comprehensive coverage.

Upon segmenting the room and marking each section, the Roomba autonomously navigates through the designated areas, systematically covering the entire room. By exploring the intricacies of grid spiral pathing and its integration with advanced algorithms, this study contributes to the development of more efficient and adaptable pathing strategies for diverse room configurations.

Keywords

Grid spiral pathing, quadtree algorithm, roomba robot

Research Area

Computer Science

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