Portfolio / SLAM Air Quality Robot

Hardware prototype

The final prototype of the robot, with a LIDAR on top, LCD and air quality sensor in front, and processor board between the wheels. Optical encoders on the wheels are used for basic dead reckoning to complement the LIDAR data. The robot is currently in an artificially constructed test environment.

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SLAM robot that monitors air quality in a cleanroom and maps it onto a web interface as a 2-dimensional heat map.

This is my capstone design project at Arizona State University. I wrote most of the code, designed the custom circuitry, and assisted the team leader with planning and scheduling. In particular I implemented a localization algorithm using LIDAR corner detection and dead reckoning. By pre-processing the map to build a cache of expected data it can run easily on low-power processors.