S.L.A.M. (Simultaneous Localization and Mapping) Experiment

This is a working experiment to create a basic SLAM robot using a RPLidar A1 and a Raspberry Pi (or Beaglebone), with the goal of creating a map of a room.

Roadmap

• Get Lidar working plugged into computer (UART communication via USB)
• Create display map from lidar data
  • Create Flask server to receive lidar data
  • Upload lidar data to server via TCP
  • Create very simple polar and cartesian map of lidar data
  • Save plots on server on every data upload, serve via Flask to webpage for display UI
• Remote controller car setup
  • 4 wheel motor controller setup with L298N H-Bridge
  • TCP remote controller (use web interface to send direction commands for now)
  • Beaglebone connected to lidar via UART
  • Assembly on car chassis (wired power)
  • Battery and power management
• SLAM Algorithm Research and Implementation
  • EKF SLAM vs. FastSLAM
  • Implement SLAM algorithm
• Who knows what else...

Resources

• RPLIDAR

  • Slamtec RPLidar A1
  • OpenGL LIDAR Display (good example RPLidar project)
  • RPLIDAR SDK

• SLAM

  • Simultaneous Localization and Mapping (Wikipedia)
  • SLAM for Dummies (PDF)
  • Simultaneous Localisation and Mapping (SLAM): Part I The Essential Algorithms (PDF)

Map Display Plots

By default the python server will serve a website on port 8080, which can be used to view the map plots. The plots are generated via matplotlib and saved to the static folder, and the website will display the most recent plot.