Human Avoidance Function for Robotic Vacuum Cleaner through Use of Environmental Sensors: Roomba® Making Way for Humans

Abstract

In recent times, the robotic vacuum cleaner Roomba has become popular in households. However, it might bump into or impede humans because it lacks the ability to recognize them. This study aims to provide Roomba with a human avoidance function through the use of environmental sensors. These sensors detect the positions of both a human and Roomba. Then, the sensors calculate and transmit the velocity depending on the distance between the two positions as predicted by using a Kalman filter. Roomba, upon receiving this data, can use it to avoid him/ her. This study experimentally demonstrates that Roomba can use the proposed human avoidance function, effectively.