Roomba

The aim is to design a Roomba-like system capable of mapping its environment and providing a certain level of area coverage for the supposed cleaning action, similar to a Roomba robot

Project Report

Orish Jindal, Sanchit Gupta, 'Roomba: design motivation and architecture, modules’ functionalities, and results', CSE 276A, Course Project, UCSD

Path traced by Algorithm: Two Obstacles

Robot in action: Cleaning action (Without obstacles)

Details to run the code

The architecture of the code includes the following four nodes:

• Node 1: Camera node initialized using rb5_camera_main_ocv.launch executable
• Node 2: April tag detection node initialized using apriltag_detection_array.py executable
• Node 3: MPI control node initialized using hw2_mpi_control_node.py executable
• Node 4: Path planning node initialized using fccp_hw5.py executable