Design and Development of a Floor Cleaning Robot with Fuzzy Automatic Control and IoT Integration
DOI:
https://doi.org/10.33795/jartel.v16i3.11036Keywords:
Android, Bluetooth, ESP32, Firebase, Floor Cleaning Robot, IoT, Mamdani Fuzzy Logic, Ultrasonic SensorAbstract
The development of automation technology and the Internet of Things has encouraged the need for floor cleaning devices that can operate independently and be easily controlled by users. This research designed and developed an ESP32-based floor cleaning robot with a navigation system based on the Mamdani fuzzy logic method and IoT integration. The robot uses three HC-SR04 ultrasonic sensors placed on the left, center, and right sides to detect obstacles. Sensor distance data are processed through fuzzification, fuzzy rule inference, and defuzzification to determine the robot movement direction, namely turning right, moving straight, or turning left. The cleaning mechanism uses brush motors and a vacuum, while an Android application is used to activate automatic mode, control cleaning components, monitor battery status through Firebase, and provide manual control through Bluetooth. Fuzzy system testing showed an average error of 0.51% between manual calculation and MATLAB simulation. Cleaning performance testing showed an average effectiveness of 49.67% in automatic mode and 78.67% in manual control mode. The results indicate that the fuzzy system can support autonomous navigation, while manual control provides higher cleaning effectiveness because users can direct the robot toward remaining dirt areas.
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