Seekur Jr

This project is the result of my work at GTRI ELSYS during the summer of 2012.

The project equips Mobile Robot’s Seekur Jr robot with a kinect, which it uses to autonomously

generate a map of its environment while navigating successfully to a user-defined destination.

The robot uses the Point Cloud Library (PCL) to process the 3D data from the kinect.

http://www.pointclouds.org

Mobile Robot’s ARIA library was used for communication with Seekur Jr’s microcontroller.

http://www.mobilerobots.com/Software/ARIA.aspx

A custom implementation of the A* path finding algorithm was written based partly on the

following explanation:

http://www.policyalmanac.org/games/aStarTutorial.htm

Voice commands and feedback were added using Microsoft’s Speech API (SAPI):

http://www.microsoft.com/en-us/download/details.aspx?id=10121

The only additional sensor added to the robot was Microsoft’s Kinect sensor.

http://www.microsoft.com/en-us/kinectforwindows/

This project was developed using Visual C++ 2010 Express Edition:

http://www.microsoft.com/visualstudio/en-us/products/2010-editions/visual-cpp-express

NOTE: the express edition does not ship with the ATL library required by SAPI, this library is

available for free however as part of the Windows Driver Kit (WDK):

http://msdn.microsoft.com/en-us/library/windows/hardware/gg487428.aspx

No progress feed available. This project is complete.