Design of Map Decomposition and Wiimote-based Localization for Vacuuming Robots

• Main Authors: Chia-Pin Kuo, 郭家賓
• Other Authors: Shyh-In Hwang
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/96081880524432354929

碩士 === 元智大學 === 資訊工程學系 === 96 === Intelligent robot developments have become more and more popular in recent years. Many countries such as US and Japan, which they have already begun this kind of research decades ago. With the growth of economic bring higher living standard. More robotic applications will be toward home service oriented. One of these service robots is vacuuming robot. It is very easy and convenient to use for house cleaning. But most of them do not seem to work efficiently. The common drawbacks they have are repeated cleaning path, lack of map information, and more power consumption. The paper propose a good infrared（IR）localization equipped with the Wiimote camera to support position on vacuuming robot. They can use position information to dodge obstacles accurately and clean assigned area. Succinct cleaning path based on Boustrophedon algorithm and digital compass. Boustrophedon help vacuuming robot to move in back and forth motion, and digital compass also corrects the robot’s moving directions. In addition, embedded map decomposition algorithm simplifies cleaning area and increase working efficiency. Finally, users can monitor or operate the vacuuming robot through wireless to complete their tasks.