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Development of Automated Driving System of Manual Driving based Cleaning Robot
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탑승식 바닥 청소 로봇의 주행 자동화 시스템 개발

논문 기본 정보

Type
Academic journal
Author
Jaewan Koo (한국로봇융합연구원) Kyon-Mo Yang (한국로봇융합연구원) Jeonghoon Kwak (한국로봇융합연구원) Kap-Ho Seo (경북대학교)
Journal
Journal of Korea Robotics Society The Journal of Korea Robotics Society Vol.19 No.3 KCI Accredited Journals
Published
2024.9
Pages
311 - 317 (7page)
DOI
10.7746/jkros.2024.19.3.311

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Topic
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Background
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Method
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Result
Development of Automated Driving System of Manual Driving based Cleaning Robot
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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.
#Cleaning Robot #Automated Driving System #Agricultural Products Processing Center

Contents

Abstract
1. 서론
2. 청소로봇 주행 자동화 시스템
3. LiDAR기반 자율주행 시스템
4. 실험 및 결과
5. 결론
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