Design and Simulation of an Autonomous Floor Cleaning Robot with Optional UV Sterilization

Abstract

The paper mainly describes the design and stimulation of an autonomous robot for floor vacuum cleaning, wet mopping and an optional UV sterilization in the absence of the patients in hospital rooms. There are many floor cleaning robots available in market such as Roomba robot, Scooba robot etc. which are very expensive this robot is designed in such away it fits the pocket of a common man but at the same time serves all the purpose of a cleaning robot. The robot contains ultrasonic sensors and IR sensors to detect any obstacle in front of the robot and a LIDAR sensor, vacuum cleaner to remove dust on the floor and cleaning mops. The robot contains a removable UV sterilization device to sterilize the hospital room after the patients have left the room. The robot uses ball and standard wheels for locomotion. The main computer on board will be an Arduino micro controller. The 3D design of the robot is made using solid works software and the stimulation of the robot being done on ROS 2 software platform. The path planning and simultaneous localization and mapping (SLAM) will be done on ROS2 using the ROS2nav2 platform. The path planning algorithm being Dijkstra’s, Behaviour tree (BT)algorithm as it achieves more accurate path planning with shortest time and obstacle avoidance algorithm is also included. The visualization of the robot is achieved using Rviz visualization tool.