Wall Following and Motion Control System for Robot Cleaner

Abstract

The investigation of indoor navigation system presents an intriguing study especially in the field of floor cleaning robot research. However, controlling an indoor robot is still challenged by complexity of the uncertainty and obstacle detection modeling. Various methods with different algorithm are required to determine and control robot position. Wall following algorithm was suggested as an alternative to more complex computation methods i.e. Simultaneous Localization and Mapping (SLAM). This paper proposed an alternative solution for navigating robot by implementing four low-cost ultrasonic sensors as proximity sensor for wall following purpose. The system was used to manage robot movement. Experiments involving wall detection and motion control test demonstrate that the robot can be implemented for domestic purpose.