Department - Author 1
Computer Engineering Department
Degree Name - Author 1
BS in Computer Engineering
Date
6-2013
Primary Advisor
Richard Savage
Abstract/Summary
Leading research in robotics, especially in the areas of computer vision, planning, and probabilistic learning, require a mobile robot platform to program. The design and construction of such a platform is a laborious task, calling upon knowledge from many branches of engineering. Additionally, hot research topics in robotics such as vision-based Simultaneous Localization and Mapping (SLAM), advanced trajectory planning algorithms, and adaptive control for collision avoidance contain algorithms that build upon a localization and mapping architecture which is time-consuming to program in itself. To bring future senior project teams from Cal Poly's computer engineering and computer science departments closer to these research topics, a customizable mobile robot platform capable of automatic mapping with well-known algorithms was built. This robot has robust sensors, contains unambiguous code, and uses familiar microcontrollers so as to be readily useable by another team. The robot is also capable of localization and mapping so that future teams lacking excessive knowledge of mapping algorithms, sensors, or electronics can branch into software based computer vision projects with ease.
URL: https://digitalcommons.calpoly.edu/cpesp/86