Turtlebot

Turtlebot

Autors: Łukasz Chojnacki, Damian Biernat, Kamil Kiełbasa

TurtlebotTurtlebot is a mobile robot able to autonomously create a map of its surroundings, localize itself in them and accordingly plan its movement in order to avoid obstacles.
The project is based on ROS (Robot Operating System), it uses mini computer RaspberryPi and a development board STM Nucleo equipped with a STM32 microcontroller. Raspberry Pi is responsible for map creation and for localization algorithms. Nucleo is used for engines control and sensor data acquisition. Software is written in C++ and Python.

Robot simulation example:

Turtlebot gif


Publications:

Łukasz Chojnacki – Mapowanie i lokalizacja robota mobilnego w środowisku ROS – symulacja w Gazebo
Łukasz Chojnacki, Damian Biernat, Kamil Kiełbasa – Simultaneous Localization And Mapping Of Mobile Robot Using Robot Operating System – Article
Łukasz Chojnacki, Damian Biernat, Kamil Kiełbasa – Simultaneous Localization And Mapping Of Mobile Robot Using Robot Operating System – Presentation