Roaming Spirit: A Framework for Localization and Navigation on a Raspberry Pi
PublicTo facilitate the development and research of autonomous, indoor mobile robotics, the Roaming Spirit platform was created to implement localization and navigation. The Roaming Spirit platform is a light weight system (319 grams) intended for implementation on both terrestrial and aerial vehicles. The platform successfully navigated a Turtlebot through over 150 feet of hallway space, handling hallways intersections, static obstacles, and occasional interference from people walking past its line of sight. It also successfully created a map of the hallway. For a future iteration of this work, locating a safe location for further aerial testing would allow for debugging issues with the software to avoid damage to both the Roaming Spirit system and to the aerial vehicle.
- 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
- Publisher
- Identifier
- E-project-042816-074646
- Advisor
- Year
- 2016
- Date created
- 2016-04-28
- Resource type
- Major
- Rights statement
Relations
- In Collection:
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Roaming_Spirit_Framework_For_SLAM_on_RaspPi.pdf | Public | Download |
Permanent link to this page: https://digital.wpi.edu/show/n009w369x