Development and Evaluation of a Smart Vacuum Robot with Adaptive Navigation

Tri Cuong Do; Tri Dung Dang

doi:10.48084/etasr.12885

Authors

Tri Cuong Do Institute of Intelligent and Interactive Technologies, University of Economics Ho Chi Minh City, Vietnam
Tri Dung Dang Institute of Intelligent and Interactive Technologies, University of Economics Ho Chi Minh City, Vietnam

Volume: 15 | Issue: 6 | Pages: 28537-28543 | December 2025 | https://doi.org/10.48084/etasr.12885

Received: 23 June 2025 | Revised: 5 August 2025 | Accepted: 25 August 2025 | Online: 1 October 2025

Corresponding author: Tri Dung Dang

Abstract

Autonomous vacuum cleaners promise hands-free hygiene, yet most commercial units are engineered for spacious Western interiors and are ill-suited to the narrow corridors and mixed floor materials typical of Vietnamese homes. A low-profile, 350 mm‑diameter robot was designed and fabricated, featuring a dual-stage centrifugal vacuum system, differential‑drive kinematics, and a Robot Operating System 2 (ROS 2) autonomy stack built around an RPLIDAR A1M8 sensor and Hector Simultaneous Localization and Mapping (SLAM). Quantitative trials, conducted in a 90 m² apartment testbed, assessed cleaning efficiency, battery endurance, and navigation accuracy. The prototype achieved mean cleaning efficiencies of 97.4 ± 1.9% on smooth tile and 92.0 ± 3.4% on 10 mm‑pile carpet, statistically surpassing the benchmark (p < 0.05). Battery runtime averaged 72 ± 3 min (quiet), 64 ± 2 min (standard), and 48 ± 2 min (max), whereas mean localization error remained below 2.1 ± 0.7 cm. The results verify that a cost-effective sensor suite, coupled with energy-aware path planning, can deliver competitive performance in the cluttered layouts of Vietnamese dwellings, laying the groundwork for a domestic robotic appliance supply chain.

Keywords:

autonomous vacuum-cleaning robot, robot design and fabrication, Simultaneous Localization and Mapping (SLAM) navigation, home cleaning automation

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