Design of SLAM and Path Planning for Large Cleaning Robots based on Robot Operating System (ROS)

• Main Authors: HSU, CHIA-CHUN, 許鎵畯
• Other Authors: CHEN, WEN-PING
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/555gz7

碩士 === 國立高雄科技大學 === 電機工程系 === 107 === 　　In recent years, the average age of people has increased year by year due to the vigorous development of technology and medical care which leads to a serious problem of population aging and the fertility rate declining year after year. The problems mentioned above will result in labor shortage. Nowadays, the large-scale indoor public space cleaning is still accomplished by Sweeper Scrubbers which controlled by human. However, the shortage of labor is increasingly serious. The cleaning of indoor public place like airport terminal, supermarket and exhibition hall, etc. is replaced by robots. Under the vigorous development of Sensor and Automation Technology, various types of Robotcleaner for large indoor public space have been proposed. Since Indoor Positioning System is hard to implement, it’s difficult for robots to complete cleaning during its pre-planned cleaning path. 　　In view of the mentioned above, the proposed vehicle uses two main wheels as power and two auxiliary wheels for support which combine LiDAR and infrared Sensor for Simultaneous Localization and Mapping (SLAM), path panning, and Path Offset and steering correction. This study integrates LiDAR and vehicle successfully which make the vehicle can scan along the environmental boundary in an indoor environment and then construct a map to store it. By using of the Zigzagging Advance to design the cleaning path. The Infrared Sensor performs the path offset correction while traveling, and the parallel correction to the wall after the steering.