Why is this project interesting?

• Sensing: We utilized the ar-tracker package and RViz to visualize the transformation between different frames. Getting the information of translation and angles allows the robot to move to target positions accurately. We hope to combine what we've learned from all the labs and implement a creative application.

• Algorithm: We implemented Prim's Algorithm that allowed the robot to perform path planning. After calculating the Euclidean norm, between every two target positions, the software could provide us with the optimal path from starting point to the target point. Detailed information and videos are presented under Design and Implementation tab.

• Hardware: We designed an application that could pick up objects autonomously when our robot stops. The application detects the acceleration of our robot using IMU and performs pick-up using motors and 3D printed scooper and arms. The hardware part is controlled by Raspberry Pi and is combined with the algorithm and sensing.

• Mechanical: We designed the Mechanical part using CAD and 3D printed those pieces to fit the size of our turtlebot.

Real-World Applications:

1. Intelligent trash car

2. Home cleaning robot

3. Dog poo pick-up robot

4. Autonomous driving with path planning and obstacle detection