INTRODUCTION
Robots are becoming essential
and integral intelligent devices that are used to perform a variety of tasks,
which sometimes are beyond the scope of human beings. They find extensive use
in areas like industrial automation, nuclear installation, and pharmaceutical
and medical fields, space research etc. The development of an autonomous mobile
robot able to vacuum a room or even an entire firm is not a trivial challenge.
In order to tackle such a task, so that it could be completed with some
simplifications and also assumptions were made to the designer’s initial idea
of an “ideal” autonomous vacuum cleaner. In this way, some functional
requirements that would improve the robot performance were not taking into
account due to their inherent complexity or to their mechanical implications.
Probably the decision that the most affects the robot complexity is the ability
of mapping the environment so that it would exhibit a much better efficiency
when compared with the minimalist approach as the one followed (random navigation).With
the aim of keeping our robot as simple as possible, while able to perform the
initial goals, i.e. an autonomous vacuum cleaner robot able to randomly
navigate through a room or a house with the minimum human assistance, the
following specifications were found:
Obstacle avoidance
Collision detection
Autonomous battery charging
Autonomous dust bag dump
These specifications correspond to
some of the expected behaviors that will be programmed into the robot. Other
behaviors that will increase the overall performance of the robot, such as self
calibration of the sensors and navigation with some memory (not completely
random) were also considered. During robot moving, the obstacle is detected by
the two sensors, one is ultrasonic sensor and another one is infrared sensor.
Here these sensors give input signal to the controlling unit (i.e., 89C51
microcontroller). According to the input signal coming from these sensors, the
controller unit interrupts the drive unit. Drive unit is fitted in the vehicle
to drive the mobile platform. The driving unit works according to the signal
form the controller unit. Then the vehicle moves left or right based on the
obstacle detected by the sensor. Here the vacuum cleaning used by a hand vacuum
cleaner, placed over a mobile platform Based on the vehicle movement dust are
cleaned.
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