The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of Automated Driving System of Manual Driving based Cleaning Robot

탑승식 바닥 청소 로봇의 주행 자동화 시스템 개발

  • Jaewan Koo (Korea Institute of Robotics and Technology Convergence) ;
  • Kyon-Mo Yang (Korea Institute of Robotics and Technology Convergence) ;
  • Jeonghoon Kwak (Korea Institute of Robotics and Technology Convergence) ;
  • Kap-Ho Seo (Korea Institute of Robotics and Technology Convergence and Department of Robot and Smart System Engineering, Kyungpook National University)
  • Received : 2024.06.18
  • Accepted : 2024.07.31
  • Published : 2024.08.30
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Abstract

Large-scale three-wheeled cleaning robots are utilized to clean large spaces such as warehouses and manufacturing plants where significant floor contamination occurs. Although there are autonomous cleaning robots, user-operated cleaning robots are often preferred because they are easy to repair and inexpensive. Therefore, workers have to spend extra time on cleaning, which reduces work efficiency. In this paper, we propose an autonomous driving system designed to automate the operation while maintaining the structure of existing cleaning robots. The contributions of this paper are as follows: 1) Hardware modules that control the driving and steering components. 2) A LiDAR-based autonomous driving system and path point generation system considering the mechanical characteristics of the cleaning robot. 3) The proposed system is implemented on an actual cleaning robot and driving tests are performed. As a result, when path planning is performed to cover the cleaning area, the average RMSE for each straight path is 0.0802 m, which is smaller than the minimum cleaning overlap of 0.3 m that occurs during the straight cleaning of the robot. This shows that the proposed system effectively covers the entire cleaning area.

Keywords

Acknowledgement

This work was supported by Korea Institute of Planning and Evaluation for Technology in Food, Agriculture and Forestry (IPET) through Smart Agri Products Flow Storage Technology Development Program, funded by Ministry of Agriculture, Food and Rural Affairs (MAFRA) (1545027072).

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