RBE Navigation, Mapping, and Planning

01 01 Background

RBE3002: Unified Robotics IV: Navigation, Mapping, and Planning at Worcester Polytechnic Institute (2015). This course covered autonomous navigation including occupancy grids, path planning algorithms, and SLAM. We used a Turtlebot platform running Ubuntu 14.04 with ROS, featuring a Roomba base and Xbox Kinect for perception, to navigate and map unknown environments.

02 02 Photos

Photos from the navigation and mapping lab.

Turtlebot platform

Occupancy grid visualization

Expanded grid for path planning

Team members programming and observing

Panoramic of WPI Robot Pits