Context

Completed as a three-week final project for CS 7630: Autonomous Robotics at Georgia Tech-Europe.

Scenario

In this project, we used a TurtleBot, ROS packages, and CoppeliaSim to localize a robot and map Wi-Fi signal strength across the first floor of the university. The project integrated the following capabilities:

  • Localization with odometry
  • Mapping using TurtleBot’s Kinect point cloud
  • A* and Dijkstra path planning for exploration and obstacle avoidance
  • Joystick control and laser-based collision prevention
  • Autonomous docking using the TurtleBot autodock package

Steps

  1. Undocking
  2. Exploring
  3. Publishing the signal-strength map
gallery_1_undock.gif
gallery_2_exploring.gif
gallery_3_occupancy.png