CPC E04H 4/1654 (2013.01) [C02F 1/001 (2013.01); G05D 1/00 (2013.01); G05D 1/0219 (2013.01); G05D 1/0238 (2013.01); C02F 2103/42 (2013.01)] | 17 Claims |
1. A pool cleaner for cleaning a pool, the pool cleaner comprising:
a filtering element for filtering fluid;
at least one sensor for sensing an actual yaw of the pool cleaner and an actual orientation of the pool cleaner;
at least one steering element that is configured to move the pool cleaner along a cleaning path, during a cleaning process of multiple submerged segments of multiple sidewalls of the pool; wherein for each submerged segment, the cleaning path mostly includes horizontal cleaning path segments that have a cleaning path segment yaw that is a horizontal yaw; wherein the multiple submerged segments of the multiple sidewalls of the pool comprises a first submerged segment of a first sidewall of the pool and a second submerged segment of a second sidewall of the pool; wherein a movement between the first submerged segment to the second submerged segment is executed without contacting a bottom of the pool; and
a controller that is configured to control the at least one steering element, based on the actual yaw of the pool cleaner.
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