A study on agile navigation system of Mess-Cleanup Robot

摘要

Autonomous and automatic home mess-cleanup robot is newly developed in this paper. Recently, the cleaning robot was commercialized to solve home cleaning labor problem but it was not so successful because it still had a problem of mess-cleanup, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. So, we develop a home mess-cleanup robot which can arrange object and throw away the big trash to perfectly overcome these problems. It needs functions of agile navigation and novel manipulation system for mess-cleanup. This Paper focuses on the navigation system. The autonomous navigation system has to be controlled for the full scanning of living room and for the precise tracking of the desired path. We use omni wheels which can move omni-directionally to develop agile navigation system. The manipulator has the functions to distinguish object between big trash and mess objects to arrange and carry them to destination in according to the object. We use the RFID system to sense object and know absolute location on the floor which has RFID tag. Finally, the good performance of the developed is confirmed through the results of the mess-cleanup experiments.