Autonomous Vacuum-Cleaning Robot: A Comprehensive Approach to Smart Home Cleaning Solutions

The pervasive challenge of maintaining clean living spaces is significantly addressed by the transformative role of autonomous vacuum cleaners. This paper details the design and development of an autonomous vacuum cleaner, leveraging Light Detection and Ranging (LiDAR) sensor technology and Robot Operating System 2 (ROS2) to implement efficient path planning and navigation algorithms. The methodology encompasses a comprehensive system architecture design, meticulous mechanical assembly, advanced software integration including Simultaneous Localization and Mapping (SLAM) and the Nav2 stack. Key results demonstrate robust motor control, accurate real-time data acquisition from the LiDAR sensor, reliable communication between microcontroller units, and effective dry waste collection across various indoor surfaces. The system's capabilities in autonomous navigation and cleaning represent a substantial contribution to the evolving landscape of smart home technologies, marking a strategic departure from conventional, less efficient navigation paradigms towards intelligent, adaptive, and resource-optimized autonomous solutions. Keywords: Algorithms, LiDAR sensor, Path planning, ROS2, SLAM