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Exploration of space with a mobile platform and limited sensors

Robert Pečavar (2012) Exploration of space with a mobile platform and limited sensors. EngD thesis.

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    This thesis will discuss the development of application for systematic exploration of space on iRobot Roomba robotic vacuum cleaner. The goal of development of application was to improve the basic operation of Roomba vacuum cleaner. Basic operation works unplanned within preprogrammed behaviors. The application for controlling the Roomba vacuum cleaner with the use of serial interface was developed with the help of Robot Operating System (ROS) environment and systematic pattern of behavior. The application was using only the integrated sensors. The application included two ways of behavior. The first way used sensors for detecting obstacles and the second one used the sensors to calculate the movement. The application was later tested in real test environment and compared with the basic operation of the vacuum cleaner.

    Item Type: Thesis (EngD thesis)
    Keywords: iRobot Roomba, ROS, exploration of space, sensors
    Number of Pages: 36
    Language of Content: Slovenian
    Mentor / Comentors:
    Name and SurnameIDFunction
    doc. dr. Danijel Skočaj296Mentor
    Link to COBISS: http://www.cobiss.si/scripts/cobiss?command=search&base=50070&select=(ID=00009466708)
    Institution: University of Ljubljana
    Department: Faculty of Computer and Information Science
    Item ID: 1873
    Date Deposited: 26 Sep 2012 10:43
    Last Modified: 25 Oct 2012 10:05
    URI: http://eprints.fri.uni-lj.si/id/eprint/1873

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