Design of Household Cleaning Robot Based on Low-cost 2D LIDAR SLAM

Abstract

A household cleaning robot is designed to help people to complete the sweeping work of full coverage of family ground. High resolution as-built floor plans are useful because the robot can use it to improve the efficiency of full coverage. Simultaneous localization and mapping (SLAM) with 2D LIDAR can effectively establish a 2-dimensional plane map. In order to meet the requirements of high performance and low cost, we use a low-cost 2D LIDAR and reduce the computational complexity of SLAM. We provide experimental results, which show that our household cleaning robot is competent for sweeping work by a robust SLAM system.