Foot Location Algorithm considering Geometric Constraints of Façade Cleaning

The purpose of this study is to propose a foot location algorithm for a glass façade cleaning robot. As an initial stage of this study, we set three assumptions regarding aimed module robot and window shape. These assumptions set the system some geometric constraint conditions: Right edge of the right cleaning unit moves along with the line of the right window frame. The cleaning area of right and left cleaning unit overlaps a little. The module robot walks with a step at a time. From the conditions, a foot location determination algorithm is constructed corresponding to four situations. The effectiveness of the algorithm is verified through a numerical simulation.