Exploration of space with a mobile platform and limited sensors

This thesis will discuss the development of application for systematic exploration of space on iRobot Roomba robotic vacuum cleaner. The goal of development of application was to improve the basic operation of Roomba vacuum cleaner. Basic operation works unplanned within preprogrammed behaviors. The application for controlling the Roomba vacuum cleaner with the use of serial interface was developed with the help of Robot Operating System (ROS) environment and systematic pattern of behavior. The application was using only the integrated sensors. The application included two ways of behavior. The first way used sensors for detecting obstacles and the second one used the sensors to calculate the movement. The application was later tested in real test environment and compared with the basic operation of the vacuum cleaner