Ensuring Area Coverage and Safety of a Reconfigurable Staircase Cleaning Robot

Multistorey buildings are rapidly constructing with the current world development. Cleaning of these buildings is a major concern due to several issues such as scarcity of labor. Cleaning robots are developed to cope with these issues. Among these cleaning robots, staircase cleaning robots play a vi...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	M. A. Viraj J. Muthugala, S. M. Bhagya P. Samarakoon, Prabakaran Veerajagadheswar, Mohan Rajesh Elara
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Area coverage cleaning robotics reconfigurable robotics robot safety staircase cleaning Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/282a503d7d7c47d7b175b198ae8d8433
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:282a503d7d7c47d7b175b198ae8d8433
record_format	dspace
spelling	oai:doaj.org-article:282a503d7d7c47d7b175b198ae8d84332021-11-18T00:01:43ZEnsuring Area Coverage and Safety of a Reconfigurable Staircase Cleaning Robot2169-353610.1109/ACCESS.2021.3125192https://doaj.org/article/282a503d7d7c47d7b175b198ae8d84332021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9599694/https://doaj.org/toc/2169-3536Multistorey buildings are rapidly constructing with the current world development. Cleaning of these buildings is a major concern due to several issues such as scarcity of labor. Cleaning robots are developed to cope with these issues. Among these cleaning robots, staircase cleaning robots play a vital role in a multistorey building. Therefore, this paper proposes a control strategy for a reconfigurable staircase cleaning robot to ensure area coverage and safety. A staircase cleaning robot should particularly maintain its orientation parallel to the riser while maintaining a proper clearance with the riser when performing the sideways movement on a thread to ensure safety and coverage. Two Fuzzy Logic Systems (FLSs) have been developed to correct the heading and the clearance distance during sideways movements. Precise measurements on heading error and clearance distance are essential for the decision-making process of the proposed control strategy. Thus, a vision-based perception mechanism has been developed to accurately perceives these essential measurements. The proposal of the control strategy to correct the heading and the clearance distance, and the development of the vision-based perception mechanism are the major contributions of the work. Experiments were conducted by deploying the developed robot in a typical staircase considering different conditions. The experiment results validate that the proposed method can ensure coverage and safety by properly maintaining the heading and clearance of the robot with respect to a riser.M. A. Viraj J. MuthugalaS. M. Bhagya P. SamarakoonPrabakaran VeerajagadheswarMohan Rajesh ElaraIEEEarticleArea coveragecleaning roboticsreconfigurable roboticsrobot safetystaircase cleaningElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 150049-150059 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Area coverage cleaning robotics reconfigurable robotics robot safety staircase cleaning Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Area coverage cleaning robotics reconfigurable robotics robot safety staircase cleaning Electrical engineering. Electronics. Nuclear engineering TK1-9971 M. A. Viraj J. Muthugala S. M. Bhagya P. Samarakoon Prabakaran Veerajagadheswar Mohan Rajesh Elara Ensuring Area Coverage and Safety of a Reconfigurable Staircase Cleaning Robot
description	Multistorey buildings are rapidly constructing with the current world development. Cleaning of these buildings is a major concern due to several issues such as scarcity of labor. Cleaning robots are developed to cope with these issues. Among these cleaning robots, staircase cleaning robots play a vital role in a multistorey building. Therefore, this paper proposes a control strategy for a reconfigurable staircase cleaning robot to ensure area coverage and safety. A staircase cleaning robot should particularly maintain its orientation parallel to the riser while maintaining a proper clearance with the riser when performing the sideways movement on a thread to ensure safety and coverage. Two Fuzzy Logic Systems (FLSs) have been developed to correct the heading and the clearance distance during sideways movements. Precise measurements on heading error and clearance distance are essential for the decision-making process of the proposed control strategy. Thus, a vision-based perception mechanism has been developed to accurately perceives these essential measurements. The proposal of the control strategy to correct the heading and the clearance distance, and the development of the vision-based perception mechanism are the major contributions of the work. Experiments were conducted by deploying the developed robot in a typical staircase considering different conditions. The experiment results validate that the proposed method can ensure coverage and safety by properly maintaining the heading and clearance of the robot with respect to a riser.
format	article
author	M. A. Viraj J. Muthugala S. M. Bhagya P. Samarakoon Prabakaran Veerajagadheswar Mohan Rajesh Elara
author_facet	M. A. Viraj J. Muthugala S. M. Bhagya P. Samarakoon Prabakaran Veerajagadheswar Mohan Rajesh Elara
author_sort	M. A. Viraj J. Muthugala
title	Ensuring Area Coverage and Safety of a Reconfigurable Staircase Cleaning Robot
title_short	Ensuring Area Coverage and Safety of a Reconfigurable Staircase Cleaning Robot
title_full	Ensuring Area Coverage and Safety of a Reconfigurable Staircase Cleaning Robot
title_fullStr	Ensuring Area Coverage and Safety of a Reconfigurable Staircase Cleaning Robot
title_full_unstemmed	Ensuring Area Coverage and Safety of a Reconfigurable Staircase Cleaning Robot
title_sort	ensuring area coverage and safety of a reconfigurable staircase cleaning robot
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/282a503d7d7c47d7b175b198ae8d8433
work_keys_str_mv	AT mavirajjmuthugala ensuringareacoverageandsafetyofareconfigurablestaircasecleaningrobot AT smbhagyapsamarakoon ensuringareacoverageandsafetyofareconfigurablestaircasecleaningrobot AT prabakaranveerajagadheswar ensuringareacoverageandsafetyofareconfigurablestaircasecleaningrobot AT mohanrajeshelara ensuringareacoverageandsafetyofareconfigurablestaircasecleaningrobot
_version_	1718425213013590016

Ensuring Area Coverage and Safety of a Reconfigurable Staircase Cleaning Robot

Ejemplares similares