Design, Development and Control of a Low Cost Vacuuming Robot (Robo Vac) for Classroom

Abstract

With the overgrowing increase in technology, robots are being used for navigation, industries and household chores due to their ability to finish the work efficiently. One of these tasks is vacuuming. Conventional vacuum cleaners require manual labor and are bulky in size producing noise. In this study, a low cost Vacuuming robot is developed. RoboVac utilizes IMU along with rotary encoders to track the traveled distance and PID controller implementation for close loop control for straight path motion at the desired constant speed. IMU is used for calculating drift in yaw angle to take turn at a precise angle of 90 degrees. The combination of IR sensors with Ultrasonic sensors detect obstacles and get as near to them as possible for better cleaning. The study highlights the design parameters, motor selection, and algorithm for the autonomous motion of the RoboVac. The proposed algorithm was first simulated using WeBots robot simulator and then implemented on actual hardware. The technique developed along with the hardware was tested in the premises of Institute of Space Technology under different environments (with and without obstacles) and showed satisfactory results. Algorithm can be used and modified for indoor navigation of similar robots.