The Development of Mapping, Covering and Control Strategies for a Vacuum Cleaner Robot
Main Article Content
Abstract
Modern households are becoming more and more convenient and intelligent by applying new technology to reduce the time spent on house chores. In this study, the authors proposed the mapping, covering strategies, and control algorithms for vacuum cleaner robot. The robot will automatically implement the cleaning task in a single pass. The sensor system includes an infrared sensor, 9 Dof MPU 9250, Delta Lidar 2A, an ultrasonic sensor to help robots navigate, build maps, and detect obstacles. ROS system (Robot Operating System) is used to control and simulate vacuuming operation in real-world environments. The experiments are conducted in order to illustrate the superiority of the proposed approach.
Keywords
Path Planning, Localization, Mapping, Cleaner Robot, PID Controller, System Identification
Article Details
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
References
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[11] R.J.Ong and K.N. F Ku Azir, Low Cost Autonomous Robot Cleaner using Mapping Algorithm based on Internet of Things (IoT), 2020 IOP Conf. Ser.: Mater. Sci. Eng. 767 012071 https://doi.org/10.1088/1757-899X/767/1/012071
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[2] TT Mac, C Copot, C. M. Ionescu, Detection and Estimation of Moving obstacles for a UAV, IFACPapersOnLine, Volume 52, Issue 1, 2019, Pages 22-27. https://doi.org/10.1016/j.ifacol.2019.06.032
[3] Nicholls, Y. Strengers, Robotic vacuum cleaners save energy? Raising cleanliness conventions and energy demand in Australian households with smart home technologies, Energy Research & Social Science, Vol. 50 (2019) 73-81. https://doi.org/10.1016/j.erss.2018.11.019
[4] T.B. Asafa, T.M. Afonja, E.A. Olaniyan, H.O. Alade, Development of a vacuum cleaner robot, Alexandria Engineering Journal, Vol. 57(4) (2018) 2911-2920. https://doi.org/10.1016/j.aej.2018.07.005
[5] Estela D. Vicente, Ana M. Vicente, Margarita Evtyugina, Ana I. Calvo, Fernanda Oduber, Carlos Blanco Alegre, Amaya Castro, Roberto Fraile, Teresa Nunes, Franco Lucarelli, Giulia Calzolai, Silvia Nava, Célia A. Alves, Impact of vacuum cleaning on indoor air quality, Building and Environment, Vol.180 (2020) 107059 https://doi.org/10.1016/j.buildenv.2020.107059
[6] Mohamed Amine Yakoubi, Mohamed Tayeb Laskri, The path planning of cleaner robot for coverage region using Genetic Algorithms, Journal of Innovation in Digital Ecosystems, Vol. 39(1) (2016), 37-43. https://doi.org/10.1016/j.jides.2016.05.004
[7] M. A. Yakoubi, M. T. Laskri, The path planning of cleaner robot for coverage region using Genetic Algorithms, Journal of Innovation in Digital Ecosystems, Vol.3(1) (2016) 37-43. https://doi.org/10.1016/j.jides.2016.05.004
[8] V. Prabakaran, M. Elara, T. Pathmakumar, S. Nansai, Floor cleaning robot with reconfigurable mechanism, Automation in Construction, Vol. 91 (2018) 155-165. https://doi.org/10.1016/j.autcon.2018.03.015
[9] J.Kim, A.K.Mishra, R.Limosani, M.Scafuro, N. Cauli, J. Victor, B. Mazzolai, F. Cavallo, Control strategies for cleaning robots in domestic applications: A comprehensive review, International Journal of Advanced Robotic Systems. July 2019. https://doi.org/10.1177/1729881419857432
[10] K. Zheng, G. Chen, G. Cui, Y. Chen, F. Wu, X. Chen, Performance metrics for coverage of cleaning robots with mocap system Intelligent Robotics and Applications, Springer International Publishing (2017), pp. 267-274, 10.1007/978-3-319-65298-6_25 https://doi.org/10.1007/978-3-319-65298-6_25
[11] R.J.Ong and K.N. F Ku Azir, Low Cost Autonomous Robot Cleaner using Mapping Algorithm based on Internet of Things (IoT), 2020 IOP Conf. Ser.: Mater. Sci. Eng. 767 012071 https://doi.org/10.1088/1757-899X/767/1/012071
[12] F. Dellaert, D. Fox, W. Burgard and S. Thrun, Monte Carlo localization for mobile robots, Proceedings IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), Detroit, MI, USA, (1999), vol.2, pp. 1322-1328