Development of Navigation System for Path Planning of Autonomous Cleaning Robot

Minh Quang Tran; Isak Martin Simbolon; Chung Hsien Kuo

doi:10.1109/CACS52606.2021.9638703

Development of Navigation System for Path Planning of Autonomous Cleaning Robot

Minh Quang Tran, Isak Martin Simbolon, Chung Hsien Kuo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper aims to develop an autonomous floor-cleaning robot that is deployed for indoor uses. The proposed method is developed based on the execution of two fundamental processes, including map building and navigation using ROS. In which the perception of the environment relies on the LiDAR, which is installed on top of the cleaning machine. Firstly, The LiDAR data is used to construct a grid map and introduces the concept of grid occupancy. Then, an algorithm is developed for path planning and trajectory tracking automatically. Furthermore, the essential information of the cleaning machine is published on the MySQL server using TCP/IP communication protocol that can be used to visualize and monitor the cleaner robot in real-time.

Original language	English
Title of host publication	2021 International Automatic Control Conference, CACS 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665444125
DOIs	https://doi.org/10.1109/CACS52606.2021.9638703
State	Published - 2021
Externally published	Yes
Event	2021 International Automatic Control Conference, CACS 2021 - Chiayi, Taiwan Duration: 03 11 2021 → 06 11 2021

Publication series

Name	2021 International Automatic Control Conference, CACS 2021

Conference

Conference	2021 International Automatic Control Conference, CACS 2021
Country/Territory	Taiwan
City	Chiayi
Period	03/11/21 → 06/11/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE

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10.1109/CACS52606.2021.9638703

Cite this

@inproceedings{6abdef7fcb5e4dca9da5fc6adf1ab953,

title = "Development of Navigation System for Path Planning of Autonomous Cleaning Robot",

abstract = "This paper aims to develop an autonomous floor-cleaning robot that is deployed for indoor uses. The proposed method is developed based on the execution of two fundamental processes, including map building and navigation using ROS. In which the perception of the environment relies on the LiDAR, which is installed on top of the cleaning machine. Firstly, The LiDAR data is used to construct a grid map and introduces the concept of grid occupancy. Then, an algorithm is developed for path planning and trajectory tracking automatically. Furthermore, the essential information of the cleaning machine is published on the MySQL server using TCP/IP communication protocol that can be used to visualize and monitor the cleaner robot in real-time.",

author = "Tran, \{Minh Quang\} and Simbolon, \{Isak Martin\} and Kuo, \{Chung Hsien\}",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE; 2021 International Automatic Control Conference, CACS 2021 ; Conference date: 03-11-2021 Through 06-11-2021",

year = "2021",

doi = "10.1109/CACS52606.2021.9638703",

language = "英语",

series = "2021 International Automatic Control Conference, CACS 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2021 International Automatic Control Conference, CACS 2021",

address = "美国",

}

Tran, MQ, Simbolon, IM & Kuo, CH 2021, Development of Navigation System for Path Planning of Autonomous Cleaning Robot. in 2021 International Automatic Control Conference, CACS 2021. 2021 International Automatic Control Conference, CACS 2021, Institute of Electrical and Electronics Engineers Inc., 2021 International Automatic Control Conference, CACS 2021, Chiayi, Taiwan, 03/11/21. https://doi.org/10.1109/CACS52606.2021.9638703

Development of Navigation System for Path Planning of Autonomous Cleaning Robot. / Tran, Minh Quang; Simbolon, Isak Martin; Kuo, Chung Hsien.
2021 International Automatic Control Conference, CACS 2021. Institute of Electrical and Electronics Engineers Inc., 2021. (2021 International Automatic Control Conference, CACS 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Development of Navigation System for Path Planning of Autonomous Cleaning Robot

AU - Tran, Minh Quang

AU - Simbolon, Isak Martin

AU - Kuo, Chung Hsien

PY - 2021

Y1 - 2021

N2 - This paper aims to develop an autonomous floor-cleaning robot that is deployed for indoor uses. The proposed method is developed based on the execution of two fundamental processes, including map building and navigation using ROS. In which the perception of the environment relies on the LiDAR, which is installed on top of the cleaning machine. Firstly, The LiDAR data is used to construct a grid map and introduces the concept of grid occupancy. Then, an algorithm is developed for path planning and trajectory tracking automatically. Furthermore, the essential information of the cleaning machine is published on the MySQL server using TCP/IP communication protocol that can be used to visualize and monitor the cleaner robot in real-time.

AB - This paper aims to develop an autonomous floor-cleaning robot that is deployed for indoor uses. The proposed method is developed based on the execution of two fundamental processes, including map building and navigation using ROS. In which the perception of the environment relies on the LiDAR, which is installed on top of the cleaning machine. Firstly, The LiDAR data is used to construct a grid map and introduces the concept of grid occupancy. Then, an algorithm is developed for path planning and trajectory tracking automatically. Furthermore, the essential information of the cleaning machine is published on the MySQL server using TCP/IP communication protocol that can be used to visualize and monitor the cleaner robot in real-time.

UR - https://www.scopus.com/pages/publications/85123923063

U2 - 10.1109/CACS52606.2021.9638703

DO - 10.1109/CACS52606.2021.9638703

M3 - 会议稿件

AN - SCOPUS:85123923063

T3 - 2021 International Automatic Control Conference, CACS 2021

BT - 2021 International Automatic Control Conference, CACS 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2021 International Automatic Control Conference, CACS 2021

Y2 - 3 November 2021 through 6 November 2021

ER -

Development of Navigation System for Path Planning of Autonomous Cleaning Robot

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