What is the MCECS Bot?¶
The MCECS Bot, aka Jeeves, is an ongoing mobile robotics project started in 2012, with the ultimate aim of creating a guide robot capable of autonomous navigation through the halls of the Maseeh College of Engineering and Computer Science at Portland State University.
Jeeves consists of a holonomic robot base, capable of movement in three axes simultaneously: front-to-back, side-to-side, and rotation. Mounted on the base is an aluminum superstructure for sensors and actuators. The superstructure can move at the "waist" with three degrees of freedom, and also has a pan/tilt head mount. It is intended that eventually, this superstructure will be covered with an outer shell to give Jeeves a friendly, humanoid appearance.
Jeeves is fitted with an array of sensors:
- SICK LMS-200 laser rangefinder (purchased through generous support from Urban Robotics, Inc. http://urbanrobotics.net).
- Kinect RGB-D camera.
- AHRS (Attitude and Heading Reference System).
- SONAR, with 360-degree field-of-view.
Jeeves' main computer is currently an Intel Atom-based Mini-ITX computer. This term (Spring 2014), Jeeves will get a computer upgrade in the form of an Intel DE2i-150
Jeeves' control software runs on top of ROS (http://ros.org), a popular open-source robotics framework. Most of our code is written in C++ and Python.