Portfolio / SLAM Air Quality Robot

Software diagram

Diagram of the various modules that make up the software running on the robot. Hardware modules are the only ones allowed to interact with hardware, fixtures contain data that never changes during normal operation, and stores perform the majority of the calculations. With the exception of commands from a PC (not shown), all data flows in a single direction only to make the code simpler.

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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.