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BSA Extended BSA Coverage Path Searching Device Method and Recording Medium thereof
BSA Extended BSA Coverage Path Searching Device Method and Recording Medium thereof
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机译:BSA扩展的BSA覆盖路径搜索装置方法及其记录介质
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摘要
The present invention relates to a device, method, and recording medium for extended backtracking spiral algorithm (BSA) coverage path planning capable of applying map decomposition to an unknown large map of a cleaning robot. The device comprises: an information collecting unit collecting information of a landmark; a landmark determining unit determining whether the detected landmark is a convex landmark or a concave landmark; an operation executing unit executing one operation of map reduction or map decomposition according to whether there is the convex landmark; and a path generating unit generating a path using BSA for a decomposed map.
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