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.
Keyword
Path Planning, Localization, Mapping, Cleaner Robot, PID Controller, System Identification.
