The Platform
Noonoo is a Roomba robot vacuum enhanced with additional sensors and computing power. It serves as my primary platform for testing autonomous navigation algorithms.
Hardware Setup
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Base: Standard Roomba robot vacuum (provides mobility)
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Camera: Small RGB camera for visual processing
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Controller: ESP-32 enabling wireless WiFi communication
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Integration: Custom mounting for all components
Research Applications
Trajectory Algorithms
Testing different approaches to path planning:
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Optimal coverage patterns
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Obstacle avoidance strategies
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Energy-efficient navigation
3D Mapping
Building spatial models of environments:
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Real-time map construction
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Feature extraction and matching
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Map updates and corrections
Cleaning Routines
Developing intelligent cleaning strategies:
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Complete coverage verification
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Efficient return-to-base paths
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Adaptive cleaning based on dirt detection
Surveillance Cycles
Exploring autonomous monitoring:
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Patrol route optimization
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Anomaly detection
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Scheduled surveillance patterns
Why a Vacuum Robot?
Starting with a commercial platform provides:
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Reliable mobility - proven drivetrain and battery system
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Cost effective - leverage existing hardware
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Focus on algorithms - concentrate on software development
Practical Research
Unlike purely theoretical work, Noonoo operates in real environments with all the messiness that entails - furniture, cables, pets, changing conditions. This practical grounding ensures algorithms that work in the lab also work in the real world.