Prototype Autonomous Mobile Robot Using ROS

This prototype is one of the main projects I worked on myself. It is a differential drive robot with a castor wheel. This robot uses ROS (Robot Operating System) nodes to control the Arduino motor controller using teleoperation. The Raspberry Pi 3 serves as the central brain of the robot using Ubuntu 20.06.6 LTS an ROS Noetic to take in LiDAR data from the RPLiDAR A1 and send control signals to the motors mounted by custom 3D printed motor mounts. The plan is to improve the implementation of SLAM using GMapping or Cartographer to allow for fully autonomous capabilities