After many rounds of iteration, we have successfully implemented an autonomous exploration and mapping demo, demonstrating the capability of our platform.

  • LiDAR point clouds are mapped into a gridmap (2 cm/grid)
  • Wheel encoder and IMU sensor fusion for accurate odometry
  • Exploration algorithm to prioritize unexplored frontiers
  • Path planning from current pose to goal pose
  • Path following with PID motor control
  • Multi-threaded, all compute is done on phone
  • Remote visualization and emergency stop/teleop over websocket