1 Introduction

Vacuum robots have had a great market growth in recent years, with an increasing number of people opting to buy a vacuum robot instead of manual sweeping. Autonomous systems, like vacuum robots, contain a lot of sensors to detect their working environment. Giving them the ability to detect things such obstacles in their path, if there is cliff on the ground, or if they have experienced a collision with something.

From high-end to low-end vacuum robots, collision detection is a basic and necessary function because the floor contains many obstacles. Even though vacuum robot has many sensors to detect its environment, sometimes collision is inevitable. If a collision occurs, the robot must not continue to move forward but turn in another direction after judging where direction of the collision.

Collison detection is necessary so that the vacuum robot can adjust and survey which direction is available. The noise from collisions can be annoying, with the source of noise not only from robot striking another object but also from the robot’s mechanical chassis.