Path planning algorithm development for autonomous vacuum cleaner robots

摘要

A vacuum cleaner robot, generally called a robovac, is an autonomous robot that is controlled by intelligent program. Autonomous vacuum cleaning robot will perform task like sweeping and vacuuming in a single pass. The DVR-1 vacuum cleaning robot consists of two DC motor operated wheels that allow 360 degree rotation, a castor wheel, side spinning brushes, a front bumper and a miniature vacuum pump. Sensors in the bumper are used for generating binary information of obstacle detection then they are processed by some controlling algorithms. These algorithms are used for path planning and navigation. The robot's bumper prevents them from bumping into walls and furniture by reversing or changing path accordingly.