Authors : J. Hossen, S. Sayeed, T. Bhuvaneswari, C. Venkataseshaiah, J. Emerson and Chung Ren Fatt
Abstract: In recent years, there has been increasing interest in developing new designs of low cost floor cleaning mobile robots. One of the challenges has been to reduce the number of sensors as it contributes considerably to the cost of the robot. In this study, the design and development of an automated floor cleaning robot which can navigate and clean a floor at the same time is discussed. It involves hardware construction and software implementation. The 2 wheels are centre mounted are used to move the robot in all direction. Electric brush is mounted in front of the cleaning robot to perform the sweep cleaning process and a mini-water pump is installed within the water tank mounted at the back of the cleaning robot to perform the mopping function. A PIC18F46K22 microcontroller and a L293D motor driver are incorporated into the cleaning robot for processing sensors signals and controlling DC motors. The 3 ultrasonic sensors are mounted on the cleaning robot for obstacle avoidance during its navigation. A RF module is installed on the main board to enable wireless control of the robot. Fuzzy logic techniques have been implemented in the control process. A prototype robot was fabricated and tested in a real environment. It has been found that the robot is able to collect hair, dust, small materials and mop the room floor avoiding obstacles during the cleaning process. The proposed method results in a self-navigating obstacle avoiding cleaning robot which is capable of dry and wet cleaning at a lower cost.
J. Hossen, S. Sayeed, T. Bhuvaneswari, C. Venkataseshaiah, J. Emerson and Chung Ren Fatt, 2017. An Automated Fuzzy Logic Based Low Cost Floor Cleaning Mobile Robot. Journal of Engineering and Applied Sciences, 12: 119-126.