Design of Autonomous Mobile Robot for Cleaning in the Environment with Obstacles

This paper describes the design and development of a cleaning robot, using adaptive manufacturing technology and its use with a control algorithm for which there is a stability proof. The authors’ goal was to fill the gap between theory and practical implementation based on available low-cost compon...

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Bibliographic Details
Published in:Applied sciences 2021-09, Vol.11 (17), p.8076
Main Authors: Joon, Arpit, Kowalczyk, Wojciech
Format: Article
Language:English
Subjects:
3-D printers
3D printing
Algorithms
Barriers
Cleaning
cleaning robot
Collision avoidance
Control algorithms
Control theory
Controllers
Design
End effectors
Four wheel drive
Inlet pipes
Robot arms
robotic arm
Robotics
Robots
ROS
Vacuum
vacuum system
Velocity
Webcams
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Summary:This paper describes the design and development of a cleaning robot, using adaptive manufacturing technology and its use with a control algorithm for which there is a stability proof. The authors’ goal was to fill the gap between theory and practical implementation based on available low-cost components. Adaptive manufacturing was chosen to cut down the cost of manufacturing the robot. Practical verification of the effectiveness of the control algorithm was achieved with the experiments. The robot comprises mainly three assemblies, a four-wheel-drive platform, a four-degrees-of-freedom robotic arm, and a vacuum system. The inlet pipe of the vacuum system was attached to the end effector of the robotic arm, which makes the robot more flexible to clean uneven areas, such as skirting on floors. The robot was equipped with a LIDAR sensor and web camera, giving the opportunity to develop more complex methods. A low-level proportional–integral–derivative (PID) speed controller was implemented, and a high-level controller that uses artificial potential functions to generate repulsive components, which avoids collision with obstacles. Robot operating system (ROS) was installed in the robot’s on-board system. With the help of the ROS node, the high-level controller generates control signals for the low-level controller.
ISSN:2076-3417
2076-3417
DOI:10.3390/app11178076