A design of large space automatic cleaning robot with omni-directional wheels

The methods for a large space cleaning task are usually using human-operated cleaning vehicle or brooms, even in the period of mid-night. In addition to hiring a large amount of people (usually senior), the over-work issue during mid-night period is another concern to the cleaning company. Therefore, an omni-directional mechanism/robot suitable for mid-night cleaning period in a large space is proposed; the hardware core is the Arduino microcontroller in association with TETRIX mechanism and sensors. Intelligent obstacle avoidance is fulfilled via sensors while the path planning is throughout the use of fuzzy control.