Motion Control Algorithm of Home Cleaner Robot

Abstract

In this paper, we describe a new autonomous mobile house-cleaning robot. The robot can clean rooms from corner to corner by closing a tip of movable suction nozzle along room walls. Moreover it can return to a charge station automatically after cleaning. It has several sensors, such as ultrasonic sensors and infrared sensors, for recognizing obstacles and ensuring safe motion. The robot makes a map of the room used for a pass planning automatically while running, and moves forward along a given path pattern called 'Spiral Pattern'. We proved the propose functions by experiment.