Motion Pattern Redesign

Our original motion plan was to move downward by rotating 90 degrees whenever the robot reached edges. Then, the robot moved toward the other edge again. In this way, the cleaning coverage was 80.77% high. However, we found that there was a potential, fatal failure. Our robot might not be able to complete the mission in 3 minutes. In the figure below, we can see it took nearly 2 minutes when the robot rotate 300 degree per second, which was incredibly fast! It will take our robot more than 6 minutes to complete the mission since the servo motors on the robot can only turn less than 90 degree per second.

Hence, we redesign the motion pattern. Now we make the robot move downward twice by one more suction-cup transition and a 180-degree turn. Though we lost our cleaning coverage by roughly 7%, we can tell from the figure below that the robot move nearly twice as fast as it used to be, which make the robot complete its mission possible.