Development of small robot for home floor cleaning

The paper describes a small robot for home floor cleaning, and proposes an effective algorithm for navigation based on a simple switch sensor. We list the necessary requirements to be considered in development of a home floor cleaning robot. Based on the requirements, we design and manufacture a cleaning robot, and propose a navigation algorithm for the robot to modify the path correctly without vision or range sensors. The experiment shows that the developed robot can clean up refuse and that the navigation algorithm proposed is very effective on floor cleaning.