Exploring Efficiency in Robotic Room Mapping: A Comparative Analysis of Hilbert Curve Algorithms in the Educational Robot Create 3

Presenter

Ruth N. De leon

Group Members

Naeem R. Sutton

Campus

Quinsigamond Community College

Sponsor

Hao Loi, Department of Computer Science, Quinsigamond Community College

Schedule

Session 2, 11:30 AM - 12:15 PM [Schedule by Time][Poster Grid for Time/Location]

Location

Poster Board A22, Campus Center Auditorium, Row 2 (A21-A40) [Poster Location Map]

Abstract

This present research aims to provide insight to a potentially enhanced method that maximizes the navigational approach of vacuum robots. The primary goal of this project was to determine if using a Hilbert curve algorithm offers optimal room coverage compared to conventional navigational methods commonly used in the market. 

The application of this work included the implementation of a Hilbert curve algorithm into the Create 3 educational model by iRobot. To achieve this, we utilized a raspberry pi 4 with ROS2 software to control the robot. In addition to this, we implemented a navigational and mapping system utilizing software and tools such as rviz, nav2 and SLAM in combination with a LiDAR camera. During our research we aimed to test the type of coverage obtained with the developed algorithm in order to identify whether Hilbert curves are optimal in comparison with existing space-filling algorithms. 

The importance of our research relies in that despite significant technological advancements, contemporary autonomous vacuum robots still exhibit navigation and room coverage flaws in their designs, yielding inconsistent results. Moreover, our project is also focused on advancing in the research about space-filling algorithms as these play important roles in other fields outside of autonomous cleaning robots and it is crucial that further research is done to improve this technology and benefit everyday consumers and organizations.

Keywords

Robotics, Raspberry Pi integration, Python programming, Mapping technology, Hilbert curve

Research Area

Computer Science

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