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ROAMER stands for "ROAMER Obstacle Avoiding Mobile Exploration Robot".
It senses obstacles using a sonar sensor mounted on a pan mechanism (a
stepper motor), which sweeps an angle of 180 degrees. The robot is
equipped with a tank-like mechanism for movement using a differential
drive scheme. It's controlled by RTLinux code, with a gtkmm2 GUI.
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We participated in Srishti
2003. ROAMER got a special certificate of appreciation from the organizers as a
project of emerging technologies. It drew huge crowds as well!
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Our paper titled "Obstacle Avoidance Algorithm for a Mobile Exploration Robot
using a Single Ultrasonic Range Sensor" was published in the proceedings of the
IIT Madras `Shaastra' Paper Presentation Competition, 2003. Download the pdf (484K).
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Here is the team that worked on ROAMER:
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ROAMER is being succeeded by another, more ambitious project, COMRADE.
Read all about it.
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 Here's a video of ROAMER passing through one of our test setups. It
has rather low lighting and was shot in two stages. We hope to put
a better one up soon. The test setup is shown clearly in this picture.
Download the video. (549,714 bytes)
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