TurtleBot Autonomous Security Guard

Project:

Built an autonomous framework on TurtleBot to act as a human security guard.

  • Wandering in the environment and building a map
  • Finding AprilTag targets
  • Approaching each target
  • Bypassing any obstacles on the routes
  • Aiming and then shooting the target with a motorized toy gun installed on TurtleBot
  • Linux
  • Robot Operating System (ROS)
  • Python

Contribution:

  • Target searching and ranking
  • Calculation of the targets’ relative position and gun pitches
  • Go-to-goal moving control
  • Bypassing any obstacles on the routes

Meta Information:

  • Time: Fall 2018
  • Instructor: Bezzo Nicola
  • Affiliation: University of Virginia
  • Teamates: Qiang Zhong, Chuanhao Li