Design of Map Decomposition and Wiimote-based Localization for Vacuuming Robots

Abstract

Vacuuming robots have been more and more popular in the house cleaning. But most of such products on the market do not work efficiently. The common drawbacks are random cleaning path, lack of map information, and excessive power consumption. To solve the problems, a localization system is needed. The techniques such as Zigbee, wireless or ultrasound were adopted in the literature. However, these methods suffer from high setup cost and large position error. This paper proposes a creative projection localization system equipped with a Wiimote controller and a digital compass. In addition, we apply a Boustrophedon algorithm (Back and forth motion), and a map decomposition algorithm to determine a better cleaning path. By implementing the robotic system, we not only improve the vacuuming robot’s efficiency but also prove the practical use in robotic localization.