TeamEpsilon

Authors: Klemen Škrlj, Aljoša Koren, Andrija Kuzmanov

Goal:

Develop an intelligent robot system for Roomba using ROS

Tasks:

System setup:

• Running ROS
• Tele-operating TurtleBot

Autonomous navigation:

• Autonomous control of the mobile platform
• Acquiring images and 3D information
• Simultaneous mapping and localization (SLAM)
• Path planning, obstacle avoidance, approaching
• Advanced fine manoeuvring (extend arm towards cylinder/rings)
• Basic mobile manipulation
• Intelligent navigation and exploration of space

Advanced perception and cognitive capabilities:

• Detection of faces, digits, masks, 3D rings, 3D cylinders, colour and digit recognition
• Training and using a classifier
• Speech synthesis, speech recognition, dialogue processing (reading QR codes)
• Belief maintenance, reasoning, planning

Special acknowledgment

This project was choosen as the best overall

How to run:

catkin_make
roslaunch setup rins_run.launch
roslaunch setup rins_task3.launch
rosrun navigation move_robot.py

Screenshots of the environment: