Abstract
Recently, Robotic Vacuum Cleaner has become popular in households. However, they might bump and impede human because of lack of ability to recognize him or her. This study proposed that append collision avoidance function to Robotic Vacuum Cleaner by collaborating with the Environmental Sensors. The Environmental sensors discover a human automatically and measure his or her position and robot's position. They calculate and transmit the velocity depending on the distance between the twos' state estimates predicted by using Kalman filter. Robotic Vacuum Cleaner can make way for him or her by receiving and executing it. In order to confirm effectiveness of the proposed function, we conduct experiment. Experimental result proves the effectiveness.
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