Complete area coverage is a crucial factor for a floor cleaning robot. Self-reconfigurable tiling robots have been introduced over robots with a fixed shape for floor cleaning since they improve the area coverage by the flexibility of shape-shifting in cluttered environments. The existing coverage methods of reconfigurable tiling robots follow the tiling theory to cope with the area coverage problem. However, these methods merely consider a limited set of predefined shapes for the reconfiguration of a robot. The consideration of a limited set of predefined shapes for the reconfiguration impedes the ability of coverage to a certain extent in typical floor environments. Therefore, this paper proposes a novel method to improve area coverage of a tiling robot by reconfiguring according to the shape of obstacles. To this end, the required hinge angles for reconfiguring per the shape of an obstacle are determined by a genetic algorithm. The proposed method considers an optimized shape for reconfiguration in lieu of a limited set of predefined shapes. The coverage improvement of the proposed concept has been compared against the existing coverage methods of tiling robots to validate the performance. According to the experimental results, the proposed method surpasses the existing coverage methods of tiling robots from the perspective of area coverage, and the improvement is significant and noteworthy.

完整的区域覆盖是地板清洁机器人的关键因素。可自我重组的平铺机器人已被引入具有固定形状的地板清洁机器人上，因为它们可通过在混乱环境中灵活移动形状来提高区域覆盖率。可重构平铺机器人的现有覆盖方法遵循平铺理论来解决区域覆盖问题。但是，这些方法仅考虑了一组有限的预定义形状用于机器人的重新配置。为重新配置考虑一组有限的预定义形状会在典型的地板环境中在一定程度上阻碍覆盖的能力。因此，本文提出了一种新方法，通过根据障碍物的形状进行重新配置来提高平铺机器人的区域覆盖率。为此，根据障碍物形状重新配置所需的铰链角度由遗传算法确定。所提出的方法考虑了用于重新配置的优化形状，以代替有限的一组预定义形状。已将所提出概念的覆盖范围改进与平铺机器人的现有覆盖方法进行了比较，以验证性能。根据实验结果，从区域覆盖的角度出发，该方法超越了现有的平铺机器人覆盖方法，其改进意义重大且值得关注。已将所提出概念的覆盖范围改进与平铺机器人的现有覆盖方法进行了比较，以验证性能。根据实验结果，从区域覆盖的角度出发，该方法超越了现有的平铺机器人覆盖方法，其改进意义重大且值得关注。已将所提出概念的覆盖范围改进与平铺机器人的现有覆盖方法进行了比较，以验证性能。根据实验结果，从区域覆盖的角度出发，该方法超越了现有的平铺机器人覆盖方法，其改进意义重大且值得关注。