Our goal is to build a processor-efficient program to allow for autonomous navigation throughout a user's house. We use Simultaneous Localization and Mapping (SLAM) to map and navigate through a room using only a RGB-D Camera. We aim to keep it easy to install and able to run on an inexpensive Single-Board Computer. Implementing autonomous navigation allows the users to easily navigate to various preset locations within their house while avoiding any obstacles.
We are currently using a finite state machine which is meant to handle and organize the entire Navigation Stack and have different states: start, logging, mapping, navigation ready, and navigating.
We are currently using the UDOO x86 Advanced Plus Single-Board Computer
We are using the ASUS Xtion Pro Live for our RGB-D Camera
We are using gspeech and ROS in order to obtain the user's voice input
The result of gmapping we get
The navigation result we get
Website: http://smartwheelchair.eng.ucsd.edu/
Phone: (619) 836-8052
Email: smartwheelchair.eng.ucsd.edu