Design and development of a robot vacuum cleaner

Abstract

This bachelor’s thesis presents the design, development, and evaluation of a robot vacuum cleaner. The system was developed as an integrated solution combining both hardware and software. The mechanical design was created using CAD software and then 3D-printed. The robot uses a differential drive configuration and employs Robot Operating System 2 (ROS 2) for control and communication. Key features include a brush and fan-based cleaning mechanism. The prototype was evaluated in terms of suction and brush performance, as well as its ability to follow predefined trajectories. Results demonstrated effective cleaning capability and reliable maneuverability within the design constraints, though some areas for improvement were identified. The thesis concludes with a discussion of the results, an analysis of the design, suggestions for future improvements, and a final conclusion.