Do you have a can of Raid?

You can use it to hold the centipede at bay till you retrieve your kiwi.

Or maybe your mom can "cover" you while you go after the fruit.

You could try the SWAT approach and blast the room full of Raid, like teargas, and then back out and close the door and sleep someplace else.

Or you can take a direct combat approach and try scraping the centipede off the ceiling with a broom and them saturating it with Raid. Or just putting on a big, tough pair of boots with thick soles and stomping its sorry bug ass once it falls to the ground.

I'm a girl, too. But I think like a soldier when it comes to bugs.