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ROBOTICS SOCIETY NITH

PROJECT PROPOSAL
NIMBUS 2020

UNKNOWN INDOORS NAVIGATION ROBOT

Team Leader
Yugal Sharma 187025
Students requirement: (4)
Needs Assessment
This project is undertaken to get hands on SLAM(simultaneous localization
and mapping)solving techniques.Knowing these techniques is much
required in building robots which can navigate their surroundings even in
absence of an external coordinate system(like GPS).
Deliverables
A robot capable of navigating unknown rooms will be presented.Target is
to be capable of navigating room in 2D (room with only stationary
objects).The prepared map of the room with robot’s position in it will be
displayed on Laptop.Room size approximately equal to hostel room.
Project Description
To navigate unknown indoors a robot require an odometry system and a
depth vision sensor, rest is the part of the algorithm using the data
provided by later two to build the map of environment and to localize the
robot in it.
1. Odometry system is the encoders on motors.
2. Depth vision is provided by kinect sensor.

Skills Required
Knowledge of ROS,algorithms involved in SLAM solving,Microsoft kinect
360
Budget
S. Component Specificatio Quantity Price
No. ns (₹)
1. Encoder dc motor 12V 60RPM 2 2000x2
2. Motor driver RMCS-2303 2 400x2

UART ASCII
Encoder DC

3. Microsoft kinect 1 2500

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ROBOTICS SOCIETY NITH
PROJECT PROPOSAL
NIMBUS 2020
4. Arduino Mega 1 700
Total ₹8000

Time Schedule: (list major checkpoints)

S.No Work Start Date Days Required
.
1. Study about 1-Nov-19 20
project
2. developing the january 5
chasis.
3. developing january 5
odometry related
stuff and testing it.
4. Adding depth january 5
vision and testing
it.
5. Developing SLAM feb 15
related code.
6. Integrating and feb 3
interfacing all of
the components.
7. Testing the final feb
robot.

Previous Work:
1. Self Balancing Robot
( https://drive.google.com/open?id=12qb2O--Sx9Ra23LlTO6RIz4zfdf255S4)
Description:A two wheeler self balancing robot.
Application:
Household robots used for cleaning and related tasks.
Robots assisting humans at workplaces.
Future Development:
1.Same objective for environments with many non-stationary objects.
2.3D mapping instead of 2D.