Abstract: We introduce some concepts for designing robotic vacuum cleaners. Some main algorithms for environment modeling and path planning are introduced. Each algorithm is described in details. A case study is given. An information-gain based path planning algorithm for robotic vacuum cleaners is proposed which considers sensor uncertainties. The proposed method reduces the entropy and maximize the likelihood of cleaning the entire room.

Key words: Robot, Vacuum cleaner, Perception, Environment modeling, Localization, Path planning, Information gain