Smart Cleaning Robot
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Date
2020
Authors
Aslan, Yousef
Mohammad, Abueideh
Journal Title
Journal ISSN
Volume Title
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Abstract
Robots have begun to enter many areas of life to achieve different purposes. In this
project, a robot was designed effectively and implemented to be capable of moving in
an indoor environment in order to clean the room that robot is in. As it was able to
build a map of the surrounding area, relying on a Simultaneous Localization and Mapping
(SLAM) gmapping algorithm and a modified wall following algorithm to reach all points
in the surrounding environment. Moreover, the robot was able to move within the plan
relying on Dijkstra's algorithm as a global planner and the Dynamic-Window Approach
attempts to avoid new obstacles. Finally, an algorithm was also built inspired from spiral
movements to complete the coverage of the environment in which the robot operates inside,
and thus, being able to clean the entire room