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TURTLEBOT AUTONOMOUS LOCALIZATION AND MAPPING

What i did

Programmed a TurtleBot to autonomously navigate and map an unknown environment. Program utilized feedback from a Kinect and ran a custom A* search algorithm.

Features

  • TurtleBot equipped with a Kinect sensor and Lenovo laptop

  • Custom A* search algorithm to map layout and obstacles

  • Moved to edge of map between scans to optimize each search

  • Once all borders and obstacles found and marked, machine stopped moving  and alerted user that task is complete

  • Powered by ROS, RViz, and Gazebo

  • Programmed in Python on Linux Ubuntu 

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© 2020 By Gabrielle O'Dell Vanner

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