AN ECO-FRIENDLY AND SUSTAINABLE ROUTE PLANNING FOR A FLOOR-MARKING OMNIDIRECTIONAL ROBOT

This paper presents different routing approaches that can be adopted to generate optimized trajectories for an omnidirectional robot used to mark on the floor the perimeter of each booth in exhibition halls. A spiral and S-shaped pattern algorithm along with a routing based on segmentation map are presented by providing results and considerations on their performance tested on real exhibition layouts. The data shows how the S-shaped routing approach is the best one to use in order to optimize the robot’s path by minimizing the transport length, the energy consumption and the time spent to fulfil the marking task.