To 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

• Hughes, Troy Howard
• Vincentelli Solanilla, Guillermo Jose

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042816-074646

Advisor

• Wyglinski, Alexander

Year

• 2016

Date created

• 2016-04-28

Resource type

• Major Qualifying Project

Major

• Robotics Engineering

Rights statement

• In Copyright