A novel hybrid navigation algorithm for autonomous robotic vacuum cleaners

摘要

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.