Sistema de navegación para un robot limpiador de piscinas

Abstract

In this paper presents the development of a navigation system to estimate the position, velocity and orientation of a pool cleaner robot to be automated. We employ the weighted least-square technique for the design of the navigation system, which combines the noisy measurements of a tri-axial accelerometer and a gyroscope with the solution to the differential equations that describe the robot's movement. The navigation system was tested using a (Simulink-based) model of the robot obtained from a tri-dimensional representation (built with CAD software - Autodesk Inventor). The final part of the paper presents the results and draws some conclusions about the feasibility of implementing the navigation system in the automation of a swimming-pool cleaner robot.

Keywords

• state estimation
• cleaning robot
• SimMechanics
• navigation system