Complete coverage motion control of a cleaning robot using infrared sensors

This paper presents a design and implementation of a motion control system for a cleaning robot based on infrared sensors. An infrared sensor system has been developed for complete coverage navigation of a floor-cleaning robot. As the robot adopts a complete coverage cleaning strategy and executes back-and-forth cleaning task, the infrared sensors can help robot align with walls and keep the robot stay in the planned path. Moreover, a landmark has been designed for navigation control using multi-directional infrared signals. Each of them has a unique digital code to facilitate the robot memorize a cleaned area. Thus the robot can complete the cleaning task efficiently in an environment with unexpected static obstacles.