Geometric Foot Location Determination Algorithm for Façade Cleaning Robot

The purpose of this paper is to construct a foot location determination algorithm for façade cleaning robot. To accomplish the façade cleaning, some geometrical constraints are considered: The module robot moves along with the line of a window frame. Distance of one step has to be shorter than the robot’s motion range. The cleaning units cover all area from top edge to bottom of the window frame. These conditions are discussed in this paper. After that, the algorithm satisfying these conditions are constructed by geometrical equations with respect to each situation. In particular, the situations fall into four scenes with initial location, middle area, final location as well as left foot location. The effectiveness of the algorithm is verified via a numerical simulation.