Smart Cleaning Robot

A growing robot vacuum cleaner project, the goal is to build an open source robot vacuum cleaner project for educational learning.

Brief Introduction and Versions

I am currently rebuilding the project to explore deeper in AI applications on cleaning robot, and adding features such as reinforcement learning; the original ROS Noetic version has been fully migrated to the noetic branch. See details in following introductions.

Main Branch (ROS Humble & Isaac Lab)

To explore deeper in Reinforcement Learning, I create this whole new main branch in ROS Humble, with Isaac Lab, to explore reinforcement learning in cleaning robot tasks.

ROS Noetic Branch (Origin System)

Noetic branch is based on ROS Noetic, Gazebo, RViz, and traditional control algorithms. You can find details in noetic branch.

Noetic Version Demos: (including exploration, mapping, cleaning, ..)

• Real Demo Link: https://youtu.be/zmo8CKolIh4?si=pPlF57XZn4DD5oo9
• Sim Demo Link: https://youtu.be/rqXiXsVubhQ?si=3jIF6Q37Kqr45SRk

Mapping:

Control Panel:

Planning:

Hardware Platform:

Smart Glove Branch

This is a branch (repo: SmartGlove) focus on smart glove, which can control robot arm and experimentally connect into a self-designed IoT platform.

Hardware implementations:

ROS topics:

Robot arm:

Furthermore

Future Plans

Based on previous work, in this new project, I will add following feature:

• Intelligent Agent built in edge device, use Jetson Nano to increase the power.
• DIY exploration and mapping module
• Update cleaning module
• New control panel based on phone
• Connect with other IoT devices

Relevant Literature and References

This project originated in the Brandeis Robotics Lab and was conducted under the guidance of Professor Pito Salas.

Related research, tutorial and reference for algorithms:

• Frontier Based Exploration: chrome-extension://efaidnbmnnnibpcajpcglclefindmkaj/https://arxiv.org/pdf/1806.03581
• Dilation Algorithm: https://homepages.inf.ed.ac.uk/rbf/HIPR2/dilate.htm
• Greedy Algorithm: https://en.wikipedia.org/wiki/Greedy_algorithm
• Bresenham's Line Algorithm: https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm
• Mapping, localization and planning: chrome-extension://efaidnbmnnnibpcajpcglclefindmkaj/https://gaoyichao.com/Xiaotu/resource/refs/PR.MIT.en.pdf

Technical reference for integration and structures:

• ROS Frontier Exploration: https://wiki.ros.org/frontier_exploration
• ROS Explore Lite: https://wiki.ros.org/explore_lite
• VOSK: https://alphacephei.com/vosk/
• ROS Full Coverage Path Planning: https://wiki.ros.org/full_coverage_path_planner
• Turtlebot3: https://emanual.robotis.com/
• OpenCV: https://opencv.org/