Question

Formulate different metrics that could be used to compare the performance of the robotic system with the presently used manual system.

Answer 1

we want Q) Formulate different metrics that could be used to compare the performance of the robotic System with the presently used manual System. A) performance Matrics : Coverage task is difficult for a cleaning robot because the environment is dynamic and complex. to evaluate the performance of the cleaning robots which can be build off the Shell. The following performance matrics are used. → Compute the coverage Compute sale of a cleaning cleaning Yobot, we build a map with SLAM to compute the free A free and get the area Ayobot Algorithms gate, TO the coverage space robot covers with Reover A robot A 'free

→ Computing the Repeat coverage Area Ratio : we record positions of the cleaning robots with Mocap while they run freely in the simulated home Onuironment, and we de sample the positions so that each position is at least 2 cm 8 adeg away from its neighbors. Then we compute the repeat coverage area ia tio by feeding the positions to algorithm i. > Computing the Distance travelled : This metric is very simple, we can complete the distance Drobot that the robot travelled by Summing up the distance of each two adjacent positions. Dmi, Ps the least length which a robot travels just covers the whole field. The efficiency of the coverage E can be calculated by: E- Drobot Dmin

Algorithm 1: Computing the repeat Coverage area ratio !: Each grib of map My has two filed. (covered , repetition time) 2: Leto indicate whether a grid of map is covered 3: Let R indicate times that a grid of map is covered 4: Input: Robot positions p 5: procedure CompUTE REPETITION (P) 6: Ito 7: for PEP do compute indexes I that the robot covers in 8: position p for ie I- I do q 10: il : ceilal Ri) RCU +1 T'I 12: