JetBot Roomba Prototype

CSE276A, UCSD

Developed an autonomous mobile robot (NVIDIA JetBot), equipped with perception, planning, and control to navigate a given space — similar to a Roomba — written from scratch, as part of CSE276A: Introduction to Robotics.

• Perception performed with the help of AprilTags.
• EKF used for SLAM.
• A spiral-like pattern used for the lawn-mower coverage algorithm.
• Written in C++, Python, and ROS.