Development of Wireless Charging Robot for Indoor Environment Based on Probabilistic Roadmap

Abstract

The aim of this paper is to develop a robotic system which can navigate in an indoor environment and charge several electrical devices. Several algorithms such as Travel Salesman Problem, Probabilistic Roadmap and Fuzzy C-means Clustering are used for development of such a system. The testbed is constructed by Arduino Uno, Arduino WIFI Shield, Go-between Shield by Mayhew Lab and Polulu Zumo robot for Arduino Ver.1.2. All the algorithms are coded by MathWorks MATLAB and Simulink. The core of the wireless charging robot is to optimize the best performance for single robot to charge multiple devices. Owing to the computation restriction of the mobile robot, the calculation will be done on remote server and communicate with the robot through Wi-Fi connection. By this, the computation load on mobile robot can be reduced as well as improving the efficiency. A real-time feedback system is also built to promote accuracy in actual environment. After the development of improved stability and flexibility, the robot can be brought to real life as an interactive and collaborative robotic system.