Automatic Recharging Path Planning for Cleaning Robots

Table 1

Distance from S1, S2, and S3 to the four charging locations.

Map 1	T1 (0, 0)	T2 (0, 30)	T3 (30, 30)	T4 (30, 0)
S1 (12, 3.5)	76.2913 m	50.4909 m	69.9310 m	53.9134 m
S2 (23, 10)	92.2263 m	61.8426 m	80.2386 m	64.2238 m
S3 (6, 12)	41.6665 m	59.5753 m	96.7111 m	76.6636 m
Map 2	T1 (0, 0)	T2 (0, 30)	T3 (30, 30)	T4 (30, 0)
S1 (4.5, 15)	84.0328 m	74.8810 m	78.8113 m	87.6712 m
S2 (12.5, 2.5)	37.8648 m	55.7663 m	59.6965 m	68.5564 m
S3 (25.5, 20)	124.1846 m	109.0067 m	45.8574 m	107.9382 m
Map 3	T1 (0, 0)	T2 (0, 30)	T3 (30, 30)	T4 (30, 0)
S1 (13, 3)	73.3489 m	43.4753 m	40.0499 m	73.5339 m
S2 (23, 28.5)	72.6284 m	29.0777 m	21.3851 m	65.5631 m
S3 (22, 17)	132.6538 m	94.6245 m	130.8422 m	79.2115 m