Intercommunication in Multi Robotic Cleaning System with Efficient Route Planning Through Map Decomposition

Due to their effectiveness in performing cleaning activities in different contexts, cleaning robots have recently gained popularity. In this study, we propose a unique method based on map decomposition to guide and coordinate multiple cleaning robots to clean an entire area. The proposed method consists of three elements: finding the shortest and most efficient path, decomposing the map, and identifying obstacles. The best route each robot should take to cover the designated area is selected by the component that finds the shortest and most efficient path. Depending on the map decomposition component, each robot only covers the partial map assigned by the monitoring robot. The obstacle detection component enables robots to detect and avoid obstacles on their path. Simulated experiments were used to test the proposed method. The results show that it successfully controls and coordinates multiple cleaning robots to cover a large area based on map decomposition. Compared with traditional cleaning techniques, the strategy significantly increases cleaning efficiency and can be extended to clean large environments. The proposed method can be used in various areas, including airports, libraries and office complexes.