iRobot Enclosure Escape

I found out how to implement linear and angular velocity, along with the use of its bumper sensors to make the Create iRobot perform an enclosure escape. This was a simple demo of it.

Basic iRobot Traversal

I found out how to implement linear and angular velocity to make the Create iRobot to move left right and curve.

This was a simple demo of it moving forward at max speed of 1.0 m/s

Controlling The iRobot Remotely From iMac

By using a wireless network connection and Terminal on both machines, I was able to remotely control the iRobot. Here you can see me performing the same program as done earlier, except this time I’m doing it remotely from the iMac.

I Ran My First ROS Program Today!

This was my first time running an ROS program with the Create iRobot. I ran a program that would make the iRobot spin 360 degrees.

At the end of my 10 week research program I will be writing a final report documenting my research project in its entirety. 

Here I will will document my project work with weekly entries in which I’ll be describing my results, my findings, my algorithms, along with my frustrations, etc.

My first weekly journal post will be up tomorrow, Friday June 11, 2011. Stay tuned!

WEEK 1:

My first week here at Brown I was introduced to the other members of the lab and assigned a work desk and computer, along with the robots and tools I’ll be working with this summer. My mentor and I went out to dinner with his family to further discuss my role here at Brown this summer, and the projects he had in mind for me to work on and his desired goals for my research this summer. He gave me a brief summary of his educational history and gave me pointers for my own academic journey. He also familiarized me with my surrounding area and gave me a bit of history on the city of Providence and the state of Rhode Island. 

Today with respect to research, I installed the Brown ROS (Robotics Operating Systems) package onto the mini notebook (Eee PC), that I was assigned and wrote a simple test program and ran it on the Create iRobot, to get myself acquainted with the new operating system as well as the robots and their functionality.

WEEK 2:

This week I successfully ran my first ROS program which made the Create iRobot spin in one spot. I was able to quickly make myself familiar with the ROS code and also have the iRobot perform a basic Traversal in a straight line at a specified linear velocity. With this new found knowledge I went on to have the iRobot carry out, what is called an Enclosure Escape maneuver where I program the iRobot to be able to find its way out of a maze of enclosure using the bumper sensors located on the front of the iRobot. When the iRobot encounters a wall or obstacle it intelligently moves away and tries another direction until finally escaping its enclosure. This was done by implementing both its linear and angular velocity.

For my Video of “Enclosure Escape”; Click HERE.

The project presented to me is broken up into two main assignents:

Assignment 1: Enclosure Escape

For this assignment, I will be working with Brown University’s installation of ROS on the EeePC to write a simple random traversal controller. For more details on the assignment click here and for video details of the assignment click here.

Assignment 2: Object Seeking

For this assignment, I will be extending my control client to perform an object seeking task. In this seeking task, my robot will look for and drive to objects (and “fiducials” or “landmarks”) that are recognizable from visual sensing (i.e., camera). For this assignment, I will be working primarily with the Create platform with a Logitech USB video cam- era. For more details on the assignment click here and for video details of the assignment click here.

Hi, my name is Kwame Martin. I am currently a rising senior at Norfolk State University, earning my B.S. in Computer Science. I am due to graduate in May of 2011. 

From the age of fifteen years old, I have been ever so fascinated by the world of computers and science technology. I was always excited to participate in computer-based activities, competitions, and fairs to represent my high school and be more engaged in the field. I see Computer Science as the driver’s license for the car one needs to drive in to the future. Everything today is computer-based or oriented. Even modern day toilets and urinals have computer controlled flushing operations, for those of us who forget to flush. The Computer Science field and industry is highly diverse, demanding and in need of pioneers and driven new, young minds. I plan to impact this industry by applying my passion for the field, and my skills and developed talents, to aid in the research and development of breakthroughs in the speedily expanding world of Computer Science.

I am truly especially interested in CS research in the areas of Artificial Intelligence, Robotics, Computer-Human Interaction, Graphics and Visualization, and Programming Languages and Compilers. So far I have only one research project and I am very excited about having another such research experience which can give me a deeper more hands on scenario pertaining to my major of study.

Contact: k.j.martin@spartans.nsu.edu