Publication

Abstract : A robotic vacuum cleaner is a device designed to assist with household cleaning, operating through automation and controlled by an intelligent program. An autonomous variant of such a robot efficiently carries out tasks like sweeping and vacuuming in a single pass. This study details the implementation of an autonomous vacuum cleaning robot utilizing the TurtleBot3 platform and the robot operating system (ROS) framework. The focus here is on path planning, a critical aspect in the cleaning process. Rather than dealing with complex global or local planners, the robot is guided by simple waypoint-generated plans to cover the designated area. Future enhancements may include the integration of global or local planners with established algorithms, such as the complete coverage algorithm, ensuring thorough and efficient coverage of the entire map without collisions with surrounding objects. This paper addresses path planning patterns in the context of a generic vacuum cleaning robot.