This project explores building an autonomous research robot on a 1/10 scale RC car platform. The goals of the project were to build an easy to use system that allowed for the exploration of techniques such as localization, object detection, mapping, and more. The completed robot consists of a self-contained RC car, running on battery power, that uses a camera, lidar, inertial measurement unit, and other sensors to observe the environment. Completed research explored pose estimation based on combining dead reckoning, inertial measurement unit readings, and visual odometry in an Extended Kalman Filter. The result of this project included the RC car and a build guide on replicating the process for future students.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Ashton, Jason Louis
• Hunt, Sean R
• Spencer, Myles Emmolo

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-032219-094723

Advisor

• Gennert, Michael A.
• Fu, Jie

Year

• 2019

Date created

• 2019-03-22

Resource type

• Major Qualifying Project

Major

• Computer Science
• Robotics Engineering

Rights statement

• In Copyright