ALGORITHMIZATION AND MOTION PROGRAMMING OF THE VACUUM CLEANER-ROBOT WITH PATH CORRECTION

Keywords: PYTHON modeling environment, fuzzy logic, robot-vacuum cleaner kinematics, defasification, center of gravity method, simulation.

Abstract

The reliability of navigation in a dynamic or unknown environment depends on the ability of robot vacuum cleaners to move between unknown obstacles without collisions and rapid response to uncertainty. Problems associated with behavioral navigation systems are behavior coordination or choice of actions. Multiple behavior can simultaneously generate multiple command outputs, which can lead to the movement of the robot in unforeseen directions or to the complete failure of the system. Reliable system performance depends on deciding how to integrate high-level scheduling and low-level execution behavior, which behavior should be activated, and how the source commands should be combined into a single robot management command. The choice of fuzzy logic system is justified by the fact that it is ideal for navigation, as for a robot vacuum cleaner itself, and any other mobile robot that requires navigation in space: it is easy to use and
implement in software code. In essence, it resembles the use of the function IF… Then, but with much greater opportunities for the distribution and use of input values. This in turn allows for smooth adjustment of the output values, in our case – the angle of rotation, as well as speed. This research uses the CENTER OF GRAVITY (COG) method, which provides a clear value based on the center of gravity of a fuzzy set and is considered the most accurate of all defasification methods.
This article presents the results of the development of an environment for simulating the movement of a robot vacuum cleaner, which allows one to estimate the differences between the applied algorithms for using fuzzy logic and the reliability of the chosen method. It is also possible to evaluate the effectiveness of the embedded logic for a path-choosing. In the simulation, it is possible to import a room layout, which gives an idea of the need to implement complex logic.

Author Biographies

Любов Василівна Мельнікова, Odessa Polytechnic State University

Doctor of Philosophy
(Ph. D), Associate Professor of Department of Electromechanical Engineering,

Катерина Василівна Коваль, Odessa Polytechnic State University

1st year student of the
Master's Degree at the Department of Electromechanical Engineering

Сергій Володимирович Ніченко, Nuclear Energy and Safety (NES) Department at the Paul Scherrer Institut

Doctor of Philosophy (Ph.D.), research scientist

Published
2021-09-06
How to Cite
Мельнікова, Л., Коваль, К., & Ніченко, С. (2021). ALGORITHMIZATION AND MOTION PROGRAMMING OF THE VACUUM CLEANER-ROBOT WITH PATH CORRECTION. Electrotechnic and Computer Systems, (35(111), 8-17. https://doi.org/10.15276/eltecs.35.111.2021.1
Section
Automated electromechanical systems