https://cstwiki.wtb.tue.nl/index.php?title=Cleaning&feed=atom&action=historyCleaning - Revision history2024-03-29T12:50:14ZRevision history for this page on the wikiMediaWiki 1.39.5https://cstwiki.wtb.tue.nl/index.php?title=Cleaning&diff=53192&oldid=prevS165691: Created page with 'For the cleaning action, it is assumed that when a patch is located under one of the cleaning squares of the robot and when this patch has a dirtiness that is greater than 0, the…'2018-04-02T17:02:31Z<p>Created page with 'For the cleaning action, it is assumed that when a patch is located under one of the cleaning squares of the robot and when this patch has a dirtiness that is greater than 0, the…'</p>
<p><b>New page</b></p><div>For the cleaning action, it is assumed that when a patch is located under one of the cleaning squares of the robot and when this patch has a dirtiness that is greater than 0, the dirtiness value<br />
of the patch is reduced with a random number between 30 and 60 per time step. When the reduction<br />
in dirtiness is greater than the actual dirtiness of a patch, the dirtiness of the patch is set<br />
to zero. The numbers for the dirt reduction are freely chosen since no scientific articles could<br />
be found on that topic. A reduction between 30 and 60 seemed plausible, but one cannot be<br />
sure that this is representative of reality. It does not matter that much that these numbers are<br />
not based on scientific research and thus are maybe not entirely realistic. This is because both<br />
the developed motion planning algorithms, as well as the reference motion planning algorithm, use<br />
these numbers, so for the comparison between them it is unlikely to have a major impact.<br/><br/><br />
<br />
For the dirt detect action, it is assumed that when a patch is located under one of the dirt detect<br />
sensor squares of the robot, the dirtiness of this patch is assessed with an accuracy of 100%. In<br />
reality, this might not be the case, but again, for the comparison purposes it is not relevant since<br />
it affects all algorithms identically.<br/><br/><br />
<br />
Another important part of cleaning the window is avoiding stripes. To include this in the model,<br />
it has to be clearly defined when the robot leaves stripes on the window surface. Therefore it is<br />
assumed that the robot will leave stripes on the surface when the window is cleaned in any way<br />
except in horizontal rows from top to bottom. This has to do with the dripping of water. Besides<br />
that, stripes will also appear when horizontal paths are not completely finished. In other words,<br />
when the robot has for example cleaned a very persistent dirty spot by means of reciprocating<br />
movements and goes directly to the next row, stripes will appear. Hence it is of high importance<br />
to avoid these situations because it yields undesirable results.<br/><br/><br />
<br />
The last remark should be made regarding the hard to clean spots. Hard to clean patches were patches that required a huge amount of wiping movements.<br />
Making infinitely many wiping motions over these spots is definitely not efficient, so a method<br />
should be developed to skip these spots when they do not get any cleaner after a certain amount<br />
of wiping motions. The method that is used is quite simple. The window cleaning robot keeps<br />
track of the changes in dirtiness value of all patches. When it notices that after a certain amount<br />
of wiping motions, the dirtiness value of a patch does not decrease significantly any more, it is<br />
skipped and the robot moves on to the next part of its motion planning. In reality this means<br />
that it could be that the window cleaning robot leaves some very persistent spots that should be<br />
cleaned manually, but this is indeed better than a very long feedback loop which will have a very<br />
large impact on the performance of the motion planning algorithm. In addition the robot could<br />
signal that such a hard to clean spot is detected, in order to manually remedy the problem whilst<br />
the robot continues with its cleaning.</div>S165691