PROJECTS ON TURTLEBOT SO FAR:
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Line Follower

Developed an algorithm of weighted mean which sets priorties to the near region of turtlebot in captured image.A web cam is mounted on turtlebot to track the line and according to algorithm it is able to traverse any type of curves.

​Navigaton using Parabolic Reflector

​Integrated a parabolic mirror to a webcam giving it 360-degree vision. Then using opencv_bridge, image processing is carried out to detect a blue color object in the field of view of the mirror and follow it.

​Autonomous Navigation Using
​Navigation Stack

Navigation stack, a method to make autonomous robot navigation, is implemented on it. With this, it is able to navigate from one point to another within the map provided. G-Mapping is done using Kinect - a 3D depth sensor. Localization in an unknown environment is done using the particle filter method. It uses A* algorithm for path planning.

AutoExMap- Autonomous Exploration and Simultaneous Real-time 3D Map Generation

Implementation of customized Explore_Lite (Frontier-based exploration) and RTabmap packages to create a RGBD map of an unknown environment. A 2D cost-map was also obtained along with a 3D map. The ability to autonomously navigate an unknown region to create its depth map can be used for creating depth-map of floors.