Final_Autonomous Floor Cleaning Robot

Abstract

This project titled “Autonomous Floor cleaning Robot” is aimed at delivering a smart, self-navigating and efficient cleaning mechanism that is capable of performing domestic Cleaning with minimum human supervision. The catalyst behind this project stems from the inherent problems in the traditional cleaning processes which are often time and labor intensive, and fail to offer consistent results. This project focuses on the development of an autonomous floor cleaning robot that employs Visual SLAM, a technique which enables a system to understand its surroundings and seamlessly navigate through them without the need of pre-installed maps. This technique is centered on utilizing the raspberry pi, integrated with a web cam to capture a stream of images in real time. The images are fed into the Raspberry pi for processing subsequently outputting key features to create an accurate map of its surroundings and successfully able to pinpoint its relative location within the map. The robot’s navigation and obstacle avoidance capabilities are further augmented by integration of ultrasonic sensors thereby avoiding collisions and ensuring smooth cleaning process. The project encompasses both the development of hardware and software. A hardware system utilizing the Raspberry pi as the central processing unit integrated with motion sensors and a webcam carefully mounted within a 3D printed exoskeleton. Deployment of Visual SLAM and motion control algorithm lied under the software domain to facilitate a comprehensive coverage and systematic cleaning of the space. In conclusion, the deployment of Visual SLAM technology along with motion sensors demonstrates a significant step in integrating computer vision techniques to further advance the capabilities of autonomous robotics. With its compact design and sophisticated functionality, our project underscores the potential of robotics to revolutionize traditional domestic methods, offering smart and convenient alternatives