Room Mapping using Ultrasonic Range Sensor on the ATRACBOT (Autonomous Trash Can Robot): A Simulation Approach

ATRACTBOT (Autonomous Trash Can Robot) is a social robot that is equipped with Artificial Intelligence (AI) to carry out its task of collecting waste while still involving humans to raise awareness to dispose of trash in its place. The robot is designed to work indoors, so the ability to map workspaces is needed. In this paper, room mapping is done using eight ultrasonic sensors arranged in such a way that it covers an area of 360 degrees around the robot. The robot moves through the room automatically by using the Braitenberg control method to map the entire room. The experimental results show that the robot succeeded in mapping the room by distinguishing the different color plots for free space and occupied space.