Domestic service robots are increasingly present and can play a relevant role in helping people carry out daily household tasks on a number of occasions. They are beneficial for people with some degree of motor limitation, work overload, single-parent families, or even as a perk. However, the entire process of designing, developing and validating a domestic service robot consumes excessive resources and time. These costs are contrary to the theories of time-to-market and the iron triangle that define the current market and innovation dynamic. In order to overcome this problem, this work proposes modularizing the development of a domestic service robot, implementing independent functionalities with the most relevant and appropriate technologies. Thus, in order to initiate this modularization and analyze its consequences, a simulated robot was modeled with the ability to independently perform the essential functionality of a domestic service robot: the autonomous navigation. The SLAM approach was used in combination with the LiDaR sensor to map, locate and, consequently, navigate in an unknown simulated home environment. In order to validate the model developed, a series of tests were carried out according to the scenarios established in a set of test cases prepared for this work. In addition, a comparative analysis was carried out between related work and the results obtained with AtmosBot. Finally, this validation identified that the proposed model presents the expected behavior for an autonomous mobile domestic robot, using technologies that are relevant to the context in which it is inserted, as well as being suitable for reducing resources and time spent on its development.
This work raised the question of the feasibility of developing a domestic service robot with the appropriate and relevant technologies, considering the current landscape characterized by time-to-market and the iron triangle theories. It was identified that, for this development, it is necessary to modularize the domestic service robot into independent functionalities, benefiting from simulated testing to minimize financial resources and time expenditure.
With that said, this study successfully achieved its overarching goal, which was to create a simulated model of an autonomous mobile robot capable of performing the fundamental functionality of a domestic service robot: autonomous navigation. The AtmosBot comprises a physical structure with four wheels and a LiDaR sensor. Using information from the sensor and wheel odometry, the robot can map and locate itself in an unknown simulated environment with SLAM (Simultaneous Localization and Mapping), plan and navigate a trajectory autonomously to a destination point without colliding with obstacles.
The development of the proposed model was made possible through a narrative literature review that laid the foundation for the necessary theories in autonomous navigation and robotic simulation. With bibliographic research structured by pre-defined inclusion and exclusion criteria, it was possible to analyze the technologies relevant to the implementation of an autonomous mobile robot, achieving the first specific objective of this work. Furthermore, with the results of these specific literature searches, it was found that the SLAM approach is the most implemented for robot localization, and the LiDaR sensor is the most widely used instrument for environment perception. Thus, SLAM and the LiDaR sensor were implemented to execute the robot's autonomous navigation, achieving the second specific objective of this work. Finally, the integrated model was successfully validated through tests according to the elaborated test cases, demonstrating that all raised requirements were met. Additionally, a comparative analysis with related works was conducted, showing that the developed model behaves similarly to proposals in the same field, with a reduction in time and resources expended. Therefore, it is highlighted that all defined specific objectives were also successfully achieved.
Confirming the possibility of modularly developing a domestic service robot with a reduction in expended resources, as proven by this work, it is conceivable to extrapolate this idea and consider the likelihood of making these robots more economically accessible. Consequently, it can be envisioned that they may become present even in the homes of low-income individuals with motor limitations, assisting them in their daily tasks and enhancing their quality of life.
Initially envisioned was the development of a model of an autonomous mobile robot with the ability to autonomously navigate towards a detected object in the environment. The most relevant technologies in the work's theme would be compared through a series of tests to identify the most suitable tools for each sub-task in the system. To align with the conclusion of the course, the scope was reduced to a domestic autonomous mobile robot implemented with technologies selected through an analysis of related works. Moreover, the model independently implements its current functionalities, capable of supporting increments of other important tasks for a domestic service robot. Therefore, the system requirements were identified again to better support the proposed solution.
Thus, this work proposes an independent domestic autonomous mobile robot capable of being integrated into a larger system to compose a domestic service robot. Future work includes the implementation of a location and object manipulation module. Additionally, integrating an interface for human interaction becomes viable, allowing the robot to receive orders from a person and perform specific activities in an environment, aiming to assist in their daily tasks.
Indra Rani Araujo · GitHub @indraAraujo · LinkedIn @indra-araujo