Development of a Control Platform for the Mobile Robot Roomba Using ROS and a Kinect Sensor

Abstract

A control scheme for the mobile robot Roomba was developed using ROS (robot operating system), which allowed the control of the robot using velocity vector references. A Kinect sensor was incorporated into the system and also a framework which provides communication with processes in other instances, monitoring and remote control. The system is flexible enough to be replicated in the future in other Roomba robots. With this framework it is possible to control the movement of the robot using velocity vector references generated from the spatial references extracted from de environment using the Kinect sensor.