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DBOT

The DBot project had been developed during my internship at Aalto University. With my colleague and friend Alvari, we built a multipurpose robot that could be used for navigating the CERN LHC for maintenance purposes and performing autonomous delivery. This has been an exciting learning experience where I had strengthened my programming skills (Python and C++), IT skills (ROS, Docker, basics of bash scripting) and applied the knowledge acquired by studying AMR (EKF sensor fusion, SLAM).

Here is a brief presentation showing DBot! You can see it at this link from mobile.

Perception stack

We built the perception stack: RGB-D camera, 2D lidar, sonar range sensors, and integrated within ROS running in a Docker Container.

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Lot of development and testing!

Testing out the odometry we achieved after performing sensor fusion using EKF with IMU, wheel encoders and GPS.

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Night session in the finnish summer... yes, the picture was taken at 10 pm!

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