arunabh98 / slam-itsp

Summer Project 2016 !!

2π-Mapper

This is the code repository for my Summer Project in IIT Bombay.

This project involved developing a robot that maps an unknown environment through feedback using ultrasonic distance sensors located in all four directions, and the live map along with the movements of the robot, is updated and displayed on the laptop screen in real time.

The main algorithm used in mapping the environment can be found in ITSP.py.
The code for interfacing the various components is listed below:

• Ultrasonic sensors-ultrasonic.py
• stepper motors-Rpi_stepper.py
• magnetometer-imu.py

For sending data from Raspberry Pi we used Bluetooth and the code for sending and receiving data can be found in send_data.py and recieve_data.py.

For the graphical output of the map we used Pygame and code can be found in output.py.

We have made a vedio of the project which you can view over here.

slam-itsp's Issues

map_width?

What exactly is map_width?

Sequence of directions in sensors' code

On line 105, shouldn't it be NESW instead of NSEW