Mechanical Fabrication and Adaptive Navigation
My team and I developed a fully autonomous ground robot capable of navigating a course complete of stationary and moving obstacles using a combination of LIDAR-based, vision-based, and infrared sensing. The fabricated robot shell was developed in Solidworks and made out of Birch plywood and ABS. All of the robot shell parts were designed and fabricated in-house at Olin using our Shopbot CNC Router and Stratasys ABS printers. The software control system for the robot is developed in C utilizing ROS (robot operating system), with the controls system running onboard an Odroid Xu4 and an Arduino Mega. My specific responsibilities were to fabricate most of the 3D-printed components and develop the vision-based navigation elements.