doi:10.3850/978-981-08-7723-1_P150

ABSTRACT

Home robots such as cleaning robots have been developed and cleaning robots have begun to be introduced in Japan. However, cleaning robots are still not popular to using for cleaning in Japanese households. Many various robots have been developed. Robots sometimes do not function correctly in the working environment. The correct movement of robots is often interrupted due to obstacles in the environment. Simulation using prototype robots is necessary to develop robots. Robot developers require a simple method for simulating robots. We have been investigating simple, high-performance educational robot systems. We consider that current cleaning robots are unsuitable for the Japanese lifestyle and home environment. Japanese users require high-efficiency, energy-saving cleaning robots. We investigate a hybrid cleaning algorithm that incorporates prior plan algorithm and sensor information algorithm. We also develop a noncontact dust sensor based on laser scattering. The hybrid algorithm obtains information about floors and dust and cleans based on this information. In this study, we demonstrate a prototype cleaning robot constructed using simple educational robot system. We also observe light scattered from accumulated dust on floors. We propose a dust sensor for a cleaning robot that is based on laser scattering.

Keywords: Cleaning robot, LEGO MINDSTORMS, Simulation, Dust sensor, Laser scattering.

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