Saurabh Singh, Vinay K Shetkar, Faisal Siddiqui, Dawnee Soman
{"title":"A novel hybrid navigation algorithm for autonomous robotic vacuum cleaners","authors":"Saurabh Singh, Vinay K Shetkar, Faisal Siddiqui, Dawnee Soman","doi":"10.1109/cera.2017.8343379","DOIUrl":null,"url":null,"abstract":"An autonomous robotic vacuum cleaner, also known as Robovac, performs the task of vacuuming a room autonomously without the need of human supervision. One of the major parts of the working of such a Robovac is its navigation. The Robovac discussed in this paper achieves this task with the help of an array of 4 ultrasonic sensors, which help prevent collisions, and a camera module for computer vision. A caterpillar wheel arrangement, powered by geared dc motors ensures smooth motion over different kinds of surfaces. The hybrid navigation algorithm uses four different algorithms in the same system, namely — Spiral, Wall follower, S-Shaped, and Random Walk, to ensure maximum area coverage in unit time. The proposed algorithm is efficient and simpler as compared to those reported in the earlier literature.","PeriodicalId":286358,"journal":{"name":"2017 6th International Conference on Computer Applications In Electrical Engineering-Recent Advances (CERA)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 6th International Conference on Computer Applications In Electrical Engineering-Recent Advances (CERA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/cera.2017.8343379","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
An autonomous robotic vacuum cleaner, also known as Robovac, performs the task of vacuuming a room autonomously without the need of human supervision. One of the major parts of the working of such a Robovac is its navigation. The Robovac discussed in this paper achieves this task with the help of an array of 4 ultrasonic sensors, which help prevent collisions, and a camera module for computer vision. A caterpillar wheel arrangement, powered by geared dc motors ensures smooth motion over different kinds of surfaces. The hybrid navigation algorithm uses four different algorithms in the same system, namely — Spiral, Wall follower, S-Shaped, and Random Walk, to ensure maximum area coverage in unit time. The proposed algorithm is efficient and simpler as compared to those reported in the earlier literature.