A little two wheeled diferential robot with SLAM

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As my final univeristy project I'm implementing some algorithms for SLAM for a robot with a LIDAR. LIDARs are expensive for hobby projects, and I'm trying to build a cheap little robot and implement SLAM with a few cheap sensors, like IR or ultrasonic distance sensors.

I'm also interested in IMUs and sensor fusion, so the robot has a accelerometer + gyro module and a magnetometer module.

For implementing the algorithms, I will use Matlab. The connection between the robot and the computer will be made by bluetooth.

I will update this projects as soon as I will get results.
  • 1 × Motor driver module L298N Stepper Motor Driver Controller Board
  • 1 × Magnetometer GY-273/HMC5883L 3-Axis Digital Compass Module
  • 1 × Accelerometer + Gyroscope GY-521 MPU-6050 Module 3 Axis gyro + 3 Axis Accelerometer Module
  • 1 × Microcontroller Arduino MEGA2560
  • 2 × IR distance sensor GP2Y0A21YK0F

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Sana Sajid wrote 01/30/2017 at 13:43 point

Did you manage to implement slam algorithm?

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brian kame wrote 02/03/2015 at 14:28 point

I didn't updated this page because my final project was changed a bit, but I'm going to update it in a few months with my results explained and the code.

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VPugliese323 wrote 09/22/2014 at 14:32 point
Just out of curiosity, what SLAM algorithms will you be using?

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brian kame wrote 02/03/2015 at 14:29 point

I'm working from scratch, for learning purposes. I'm using an Extended Kalman Filter with landmark extraction from raw data from LIDAR.

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