AI based cleaning robot
Loading...
Date
2024-07-25
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
UMT Lahore
Abstract
The AI-Based Cleaning Robot project aims to develop an efficient cleaning robot utilizing Raspberry Pi 4 Model B as its central processing unit. The project involves integrating key components such as a Raspberry Pi camera (5-megapixel), Lidar sensor, 5-V encoder motors (x2), caster wheel, chassis, 40-A BMS with a 36A battery pack, and an ESP module. The progress report details the team's journey in configuring the Raspberry Pi and selecting an appropriate operating system. Initially, Raspbian was chosen, but its effectiveness proved suboptimal. After an extensive review of literature, the team opted for Ubuntu 23.10, the latest version available. However, challenges arose as ROS packets necessary for operation were not yet released for this version. Consequently, the team shifted to Ubuntu 22.04, which supported ROS 2, providing a more feasible solution. Despite its complexity, the operating system was adopted for further development. Recognizing the need for a user-friendly environment, the team revisited earlier versions of Ubuntu and settled on Ubuntu 20.4 Mate. This version not only provided a friendly interface but also had pre-installed software and support for ROS 2. The Lidar sensor, a critical component, was successfully tested on the Raspberry Pi installed with Ubuntu 20.4 Mate, demonstrating optimal functionality. Hardware development involved the creation of a custom chassis with a circular design, boasting a 14-inch diameter. This chassis accommodates spaces for the placement of encoder motors and tires. Rigorous testing of the robot's movement with the integration of two encoder motors connected to an ESP module, wirelessly communicating with the Raspberry Pi, was conducted. The wireless connection aims to minimize delays by up to 50%. In summary, the team successfully navigated the challenges of selecting an appropriate operating system, tested the functionality of key components, and established a foundation for the AI-based cleaning robot. The integration of ROS 2, a user-friendly environment, and wireless communication showcases the team's commitment to creating an advanced and efficient cleaning solution.