Overview

Similar to Turtlebot 3

• Features
  • Raspberry Pi 5
  • Arduino
  • DC Motors
  • Odometry
    • Encoders
    • IMU
    • LiDAR
  • SLAM (w/ LiDAR)
  • Obstacle Avoidance with PPO

Progress

Drone Moving https://www.youtube.com/watch?v=rg7pI7mpyLs

LiDAR

Visualized LiDAR information from Raspberry Pi onto Desktop using RViz2.

After I moved, I could not set up proper port forwarding at my dorm between my Raspberry Pi and my VM, so I switched to Foxglove.

Here is an example Map with my robot and LiDAR visualized on it.

Assembly

Finished the CAD assembly, and built it in real life.