Autonomous Room Cleaner Robot

Project Title

Autonomous Room Cleaner Robot

Project Area of Specialization RoboticsProject Summary

As we know human life is too much busy nowadays and this factor increases the importance of time so we are making autonomous room cleaner robot to make human life easy and save time due to its importance for example there is no time in busy life to clean home daily so we are making that robot which cleans the room autonomously which saves the important time of human life.

This project needs interfacing and communication of many complex systems with given map and coordinates of room. The basic functionality of the robot is to update the given map of room autonomously. The robot will be able to localize its position according to starting point and update the map.  The main goal of the robot is to update the map of the given arena in which it will move autonomously and clean it.

By developing and designing this robot it will provide a strong base for developing different robots upon this model which can perform different tasks (e.g. autonomous cars, and autonomous navigation robots for rescue missions). This design also provide solid base for further development by future students for their research and projects.

Project Objectives

The objectives are as follow.

• Designing and implementation of an algorithm for autonomous navigation on V-Rep
• Localize the robot using predefined map
• Update the map using sensor data.
• Introducing vacuum cleaning process to the robot.
• Rotate the robot at specific angles by controlling the rotation of its wheels using the encoder data.
• Implement hardware of robot. It includes Raspberry pi, sensors and encoders etc.
• Make robot to navigate through the environment.

Project Implementation Method

1. We are interfacing 2d laser sensor with Raspberry Pi and write a program to control the 2d laser sensor with Raspberry Pi.
2. We are interfacing DC gear motor with Raspberry Pi using L298 HHH-Bridge and write a program to control these motors by sending a signal from Raspberry Pi GPIO pins.
3. We are interfacing encoders and infrared speed sensors with Raspberry Pi to control the speed, movement and rotation of the robot.
4. We are interfacing WIFI USB dongle with our Raspberry so that we can interact with laptop using internet.

Benefits of the Project

Learning Outcomes

1. Understanding of ROS and V-REP
2. Learning the integration of hardware module
3. Understanding the functioning of 2d laser sensor
4. Understanding the API of Raspberry pi
5. Raspbian Operating System

Nature of the End Product / Research Outcomes

The end product will be an autonomous room cleaner mobile robot which will generate the autonomously map of the room environment and navigate in the room environment and clean complete room. This robots functionality can be used in several ways by making some adjustments like it can also use for spreading seeds in the field and etc.

Technical Details of Final Deliverable

1. Understanding of ROS and V-Rep (Creating a hardware prototype – base of robot)
2. Simulation with 2d laser calibration, data acquiring, publishing over ROS topics
3. Clustering of environmental objects  (distance based, kalman or particle filter etc)
4. Research on the following algorithms for mapping (2 months)

• G-mapping
• Hector mapping
• Octo mapping

1. Implementation of selected mapping algorithm in V-Rep simulator using single robot
2. Research on the following algorithms autonomous navigation inside room using map and GPS

• Bayesian Network
• Deep learning
• Artificial Neutral Network

1. Designing and implementation of the room navigation algorithm in V-Rep
2. Calibration of hardware components (Raspberry Pi, 2D laser sensor, encoders, GPS etc.)
3. Integration of the hardware components
4. Implementation of the algorithm on hardware (ROS, Sensor’s data and algo. in real time etc.)
5. Testing and validation in real environment
6. Writing research paper and submission for reviews
7. Creation of GitHub Repository with user manual for open source

Final Deliverable of the Project HW/SW integrated systemType of Industry IT , Manufacturing Technologies Artificial Intelligence(AI), RoboticsSustainable Development Goals Affordable and Clean EnergyRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	71109
Raspberrry Pi	Equipment	1	5000	5000
Gear Motor with Encoder	Equipment	2	2500	5000
Tyres	Equipment	2	500	1000
free wheels	Equipment	2	200	400
H-bridge Motor Driver	Equipment	2	5000	10000
Chasis	Equipment	1	2500	2500
2D Laser Sensor	Equipment	1	35000	35000
Wires and screws	Equipment	1	5000	5000
Rasberry Pi Card	Equipment	1	700	700
Vaccum Cleaner	Equipment	1	5009	5009
printing pages A4 size	Miscellaneous	1	1500	1500