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Senthilmahesh, et al.

major issue is the accumulation of debris, including 4.4. Cost analysis of robotic versus manual
leaves, insects, and dirt, which not only compromises maintenance
water quality but can also clog filtration systems. The adoption of autonomous robots for pool maintenance
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In addition, inadequate cleaning can lead to the marks a transition from labor-intensive to technology-
proliferation of waterborne diseases, as bacteria such driven cleaning. A cost comparison highlights the
as E. coli and Legionella, along with parasites such financial advantages of robotic cleaning over traditional
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as Cryptosporidium, pose serious infection risks. manual methods. While manual cleaning requires a
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Traditional manual cleaning methods further contribute low initial investment in hiring personnel, it incurs high
to inefficiencies, as they rely on human intervention, recurring costs due to wages and potential health risks
which can be inconsistent due to time constraints, human from chemical exposure. In contrast, robotic cleaning
error, and resource limitations. Another challenge is involves a higher upfront cost but significantly lower
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maintaining proper chemical balance because incorrect recurring expenses, limited to periodic maintenance
chlorine levels can cause skin irritation or allow bacterial and energy consumption. In addition, robotic systems
growth, requiring constant monitoring. 4 operate continuously or on demand, ensuring superior
To address these challenges, the proposed consistency through predefined cleaning patterns,
autonomous robot offers a systematic and real-time whereas manual cleaning is typically performed weekly
solution. It continuously scans the pool for debris, or monthly and is prone to human error and fatigue.
adjusts its movement accordingly, and monitors water
quality parameters. Unlike manual methods that 4.5. Break-even analysis
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Despite the higher initial investment, the long-term
follow scheduled cleaning routines, this robotic system
ensures proactive rather than reactive maintenance, savings from robotic pool cleaners outweigh the costs
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resulting in a consistently clean and hygienic swimming associated with manual labor. Autonomous systems
reduce chemical usage, minimize filtration system
environment.
wear, and require minimal human intervention, leading
to enhanced cost efficiency. A case study comparing
4.3. Technical depth on navigation and control
The robot’s navigation system is designed using traditional maintenance expenses with robotic
operations over multiple years could provide concrete
a combination of sensor fusion and autonomous evidence of the financial benefits of automation in pool
decision-making algorithms to ensure precise cleaning.
movement and obstacle avoidance. To achieve
accurate localization, the system integrates Kalman Factor Manual cleaning Robotic cleaning
filtering, which processes noisy GPS and vision sensor Initial Low (hiring costs) High (robot purchase)
data, enhancing positional accuracy. For obstacle investment
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avoidance, the potential field method is employed, Recurring High (wages, Low (periodic
where obstacles are modeled as repelling forces while costs chemical exposure) maintenance, energy
the target cleaning area acts as an attractive force, use)
allowing the robot to dynamically adjust its path. Cleaning Weekly/Monthly Continuous/
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In addition, if required, the A search algorithm* can frequency On-demand
be used for path optimization, ensuring the most Consistency Variable (human High (predefined
efficient route for systematic cleaning. To enhance error, fatigue) cleaning pattern)
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debris detection, the robot utilizes image processing Long-term Low (ongoing High (one-time
techniques, specifically the color moments algorithm, savings wages) investment, minimal
which extracts statistical features such as mean, upkeep)
variance, and skewness from images to identify and
classify floating debris in real time. For improved 4.6. Deployment challenges and mitigation
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classification accuracy, a machine learning model strategies
could be incorporated to differentiate between various While robotic swimming pool cleaners offer significant
debris types. These advanced navigation and control advantages, their deployment presents several challenges
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techniques enable the robot to operate autonomously that must be addressed for optimal performance and
while adapting to dynamic environments, ensuring widespread adoption. One major technical limitation
efficient and effective cleaning in diverse pool settings. is battery life, as limited operational time necessitates

Volume 22 Issue 2 (2025) 28 doi: 10.36922/ajwep.6564