Autonomous SLAM Mobile Robot

LiDAR-based SLAM mobile robot with ROS integration and wireless control

Course: Digital Circuits Experiment     Mar 2025 – Jun 2025

Overview

Built an autonomous mobile robot capable of real-time 2D SLAM, featuring wireless communication via ESP32, LiDAR-odometry fusion, and a complete ROS data pipeline for sensor integration and teleoperation.

Key Highlights

  • Wireless Communication & ROS Virtual Serial Bridging: Developed a wireless TCP/IP bridge using an ESP32 and virtual serial ports to stream sensor data directly into ROS nodes.
  • LiDAR & Odometry Fusion SLAM Algorithm: Deployed Hector SLAM for real-time 2D mapping, fusing LiDAR (/scan) with odometry (/odom) feedback to reduce latency and enhance localization.
  • ROS Data Pipeline & Node Design: Engineered a data pipeline with custom ROS nodes to parse sensor streams into standard topics (/scan, /tf, /odom) and manage vehicle teleoperation via /cmd_vel.

Robot & Debugging

SLAM Map