This body of research is built around the development of a roaming robot for indoor settings. Quanser's ground robotics system, QBot 2e, was utilized to map parts of a room along with collecting temperature and light intensity data while automatically navigating around various obstacles. Our research includes characterization of drift in obstacle mapping, heading correction, integration of sensors, and pathfinding. The models used were implemented in MATLAB and Simulink using QUARC and run on an onboard Raspberry Pi in the QBot 2e.
O'Hara, M., Mangano, K., Lai, G., Sebastian, J., Montuori, M., Molki, A., & Kaya, T. (2021, October 27-28). Development of an autonomous indoor robot for mapping applications. Proceedings of the 7th International Conference on Engineering and Emerging Technologies (ICEET), Istanbul, Turkey. IEEE. Doi: 10.1109/ICEET53442.2021.9659668
2021 International Conference on Engineering and Emerging Technologies (ICEET)
Michael O'Hara, Kaitlyn Mangano and Mario Montuori are students in the School of Computer Science and Engineering at Sacred Heart University.