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The robot is moving on the floor. The space to cover is divided in “zones” of the same shape and size. The space is oriented following 2 orthogonal axes X and Y. The coordinates of each (X,Y) point is expressed relatively to an arbitrary (X,Y) = (0,0) point of the space. Coordinates of the centre of each “zone” are used as key points for the scan learning.
The robot is moving on the floor. The space to cover is divided in “zones” of the same shape and size. The space is oriented following 2 orthogonal axes X and Y. The coordinates of each (X,Y) point is expressed relatively to an arbitrary (X,Y) = (0,0) point of the space. Coordinates of the centre of each “zone” are used as key points for the scan learning.
Figure 2 For instance a space of 90cm x 180 cm divided in 28 zones (for instance squares) (30cm x 30xcm) form zones
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