Aiming at problem that most of indoor cleaning robots adopt random or planning type cleaning methods

which can cause high repetition rate

low coverage rate and long cleaning time

present a method of complete coverage path planning based on circulation of border learning

sub-areas division and local map building

and along the border to expand cleaning. The robot study surrounding environment along the first edge by sensors

and sub-area is divided and local map is built up and the sub-area is traversed to clean. To traverse destination as a starting point for second edge learning

and until the entire environmental area is cleaned. The method is tested in the experimental environment

the result shows that the coverage is improved by 4 %

8 % and the cleaning time is shortened 2

7 min. It has advantage of low cost

simple and easy operation. The method has certain application value.