Design of Map Decomposition and Wiimote （分解和Wiimote地图的设计）.pdfVIP

Design of Map Decomposition and Wiimote-based Localization for Vacuuming Robots Chia-Pin Kuo, Shyh-In Hwang Department of Computer Science and Engineering Yuan Ze University s956007@.tw, shyhin@.tw Abstract-Vacuuming robots have been more become more and more popular in recent years. and more popular in the house cleaning. But Many robotic researchers are trying to create most of such products on the market do not work smarter robots and let them helping people in our efficiently. The common drawbacks are random life. The famous one is house cleaning robot. For cleaning path, lack of map information, and example, there are iRobot’s Roomba, excessive power consumption. To solve the Electrolux’s Trilobite, Yujin Robotics’ i-Clebo, problems, a localization system is needed. The and LG’s V-R4000, etc. Common features they techniques such as Zigbee, wireless or have are scheduled to clean periodically, dodge ultrasound were adopted in the literature. obstacles, auto-recharge, and detect floors. If However, these methods suffer from high setup people have busy works every day, vacuuming cost and large position error. This paper robot must be a good helper. proposes a creative projection localization Unfortunately, there are some drawbacks system equipped with a Wiimote controller and a when the robot works. Take Roomba for example, digital compass. In addition