This is a project we pursued at Mudd. It involved hacking a Kinect to recognize wall angles, thereby being able to align itself between two walls and calibrate its position between the walls into commands for a Roomba to follow.

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By moving in a snake-like manner, the Roomba was able to maintain its position between the two walls whenever it noticed itself approaching one wall. When it reached a T-intersection, it would turn 90 degrees in one pre-determined direction, check if there was a wall, and continue on if there was not. Otherwise, it would continue to make 90 degree turns in the same direction until a path is clear.

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​More information can be found at the course website.

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A demonstration is shown on the left.