Mapping an indoor environment with LiDAR and ROS

After several weeks of API design, component selection, and simulation, I’m very excited to present the first prototype of our indoor autonomous robot. I’m leading a five person team to develop a robot with a front-facing web interface, capable of navigating a previously mapped indoor environment and avoiding dynamic obstacles (people!). Our chief sensor is a 1 beam LiDAR, and we will be adding wheel encoders and an IMU in the next week or so.


CMPE 118 Team 7

Daniel Hunter, William Cheng, Kenny He