We are currently experiencing intermittent issues impacting performance. We apologize for the inconvenience.
By Topic

Sensory navigation of autonomous cleaning robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Yu Liu ; State Key Lab of Fluid Power Transmission & Control, Zhejiang Univ., Hangzhou, China ; Shiqiang Zhu ; Bo Jin ; Shenshen Feng
more authors

This paper addresses a general problem of sensory navigation for autonomous cleaning robots (ACR) in unknown environments. Although absolute self-localization and accurate environment modeling still remain unsolved, a delicately designed mobile robot still can carry out a task practically. Under this strategy, we propose a cleaning robot system, which works without any environment map and global self-localization. It has a three-layer structure. The lower layer is composed of general hardware: ultrasonic sensors, infrared sensors, incremental encoders, DC motors, vacuum, etc. Upon these sensors is the sensory behavior layer, which includes several motion templates. These intelligent motion templates can deal with most situations, seldom making the robot trapped. The upper layer is the task-based navigation layer, which carries out the tasks of environment learning, cleaning, and homing. Finally the experiment results show that this strategy works well, even if the robot knows only a little about the environment.

Published in:

Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on  (Volume:6 )

Date of Conference:

15-19 June 2004