We utilized TurtleBot3 which adopts ROBOTIS smart actuator Dynamixel for driving.

TurtleBot3 is a ROS-based mobile robot. We customized it to reconstruct the mechanical parts and use optional parts such as the computer and sensor. SLAM, Navigation and Manipulation, makes it to build a map and can drive around the room. Also, it can be controlled remotely from a laptop, joypad or Android-based smart phone.

The project allows the robot to detect the lane(s) and obstacles to avoid. Various algorithms such as SLAM, CNN, LSTM and OpenManipulator are embedded in the robot to make better robot behavior.

The following video demonstrates the navigation function.

For more detailed information please contact our TUPA members below;
Taeho Oh, [email protected]
Xu Bicheng, [email protected]