제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Autonomous Omni-Directional Cleaning Robot System Design

  • Choi, Jun-Yong (Department of Mechanical Design Seoul National University of Technology) ;
  • Ock, Seung-Ho (Department of Mechanical Design Seoul National University of Technology) ;
  • Kim, San (Department of Mechanical Design Seoul National University of Technology) ;
  • Kim, Dong-Hwan (School of Mechanical Design and Automation Engineering, Seoul National University of Technology)
  • Published : 2005.06.02
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Abstract

In this paper, an autonomous omni directional cleaning robot which recognizes an obstacle and a battery charger is introduced. It utilizes a robot vision, ultra sonic sensors, and infrared sensors information along with appropriate algorithm. Three omni-directional wheels make the robot move any direction, enabling a faster maneuvering than a simple track typed robot. The robot system transfers command and image data through Blue-tooth wireless modules to be operated in a remote place. The robot vision associated with sensor data makes the robot proceed in an autonomous behavior. An autonomous battery charger searching is implemented by using a map-building which results in overcoming the error due to the slip on the wheels, and camera and sensor information.

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