Title

PLANR.: Planar Learning Autonomous Navigation Robot

Author(s) Information

Gabrielle S. Santamorena, California Polytechnic State University, San Luis ObispoFollow
Daniel Kasman, California Polytechnic State University, San Luis ObispoFollow
Jesus Mercado, California Polytechnic State University, San Luis ObispoFollow
Ben Klave, California Polytechnic State University, San Luis ObispoFollow
Andrew Weisman, California Polytechnic State University, San Luis ObispoFollow
Anthony Fortner, California Polytechnic State University, San Luis ObispoFollow

College - Author 1

College of Engineering

Department - Author 1

Computer Engineering Department

Degree Name - Author 1

BS in Computer Engineering

Date

6-2019

Primary Advisor

John Seng

Abstract/Summary

PLANR is a self-contained robot capable of mapping a space and generating 2D floor plans of a building while identifying objects of interest. It runs Robot Operating System (ROS) and houses four main hardware components. An Arduino Mega board handles the navigation, while an NVIDIA Jetson TX2, holds most of the processing power and runs ROS. An Orbbec Astra Pro stereoscopic camera is used for recognition of doors, windows and outlets and the RPLiDAR A3 laser scanner is able to give depth for wall detection and dimension measurements. The robot is intended to operate autonomously and without constant human monitoring or intervention. The user is responsible for booting up the robot and extracting the map via SSH before shutting down.

URL: https://digitalcommons.calpoly.edu/cpesp/319