FUZZY FLOOR DUST CLEANING ROBOT PROTOTYPEBASED ON ARDUINO

Abstract

The design of a Floor Cleaning Robot Based on Arduino Uno
R3 aims to make it easier for humans to clean the dust on the
floor efficiently. This robot consists of several series of
components including Arduino Uno r3: Arduino Uno r3,
sensor ultrasonic, motor servo, This robot consists of several
components including Arduino Uno R3, ultrasonic sensor,
servo motor, motor shield driver, dc motor, and vacuum
blower motor. The entire system synergizes in the process of
cleaning the dust on the floor and all of them are connected
to a power source in the form of a dc battery, which supplies
a voltage of 7 volts for the Arduino circuit and 12 volts for
the vacuum blower. The working principle of this robot starts
when the ultrasonic sensor can measure and distinguish the
closest distance between the robot and an obstacle, at the
same time the servo motor will move up to 180° to assist the
ultrasonic sensor in detecting obstacles, both the front, right,
and left sides of the robot. This Floor Cleaning Robot is
programmed by adapting fuzzy logic artificial intelligence,
the fuzzy rules used in this robot aim to control the speed of
the robot based on the obstacle distance detected by the
ultrasonic sensor. Fuzzy logic executes the data and
continues the command to drive the motor so that the robot
can work efficiently cleaning dust on the floor by minimizing
the occurrence of collisions against obstacles. Dust suction
carried out by the vacuum blower motor is not included in
the Arduino circuit, because the vacuum blower motor
requires an input power of 12 volts. It is not possible to unite
it to the Arduino circuit because the power it has is only 7
volts, but these two separate circuits can still synergize well
in the process of cleaning the dust on the floor. The results of
observations and experiments show that the fuzzy logic
embedded in the Arduino as the brain of the dust cleaning
robot on the floor works quite well.