SLAM-CART-BOT

• Mechanum drive robot which leverages SLAM + Sensor fusion (LIDAR, CAM, Odometry) 

• Modular system which is applicable to many different mapping & autonomy tasks. 

  • • This is the stepping stone to autonomous driving and situations like active contruction zone mapping

• Based off of the test robot (CART BOT) utilized for firmware testing at my 1st co-op employer (Upside Robotics)

• Utilizing Gazebo/RVIZ2 I prototyped the lidar system and drivetrain leveraging URDF xacro information

• Calculated the power distribution in order to determine the battery and set up a parallel circuit between the drivetrain and compute allowing for a constant voltage drop from 12->5v as that is the most common signal for most devices.

• Designed the test-bench in onshape in order to have access to auto urdf and leveraged 3d printing for quick fabrication of mechanical parts/mounts

• Using Rasberry pi 5 as compute to process drivetrain, lidar, and cam telemetry in order to determine localized position, utilizing arduino for drivetrain control

lidar visualization