Design and Implementation of an Autonomous Cleaning Robot to Work Indoors I Ortamda alisacak Otonom Bir Temizlik Robotu Tasarimi ve Uygulamasi

Becer E., Ulusoy O., Turan K., Altuğ E.

2023 Innovations in Intelligent Systems and Applications Conference, ASYU 2023, Sivas, Turkey, 11 - 13 October 2023 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/asyu58738.2023.10296785
  • City: Sivas
  • Country: Turkey
  • Keywords: autonomous robot, cleaning system design, mapping, motion planning
  • Istanbul Technical University Affiliated: Yes


In this study, the development of an autonomous cleaning robot that will work in large indoor areas is explained. The robot and vacuum cleaning system was designed with Autodesk Fusion 360 design and static analysis tools and Autodesk CFD. By collecting information about the robot and its environment with LIDAR, encoders and IMU, robot control, obstacle detection and avoidance, studies on ROS and the developed DustBusterAI 1.0 software, ROS2 Cartographer package, mapping with genetic algorithm and adaptive Monte Carlo method, ROS2 Nav2 package and AMC integration navigation studies. A prototype was created by manufacturing the vacuum system components with a 3D printer. It has been observed that the cleaning system and autonomous robot algorithms work as designed.