2-link drawing robot rendered with forward kinematics using translation/rotation matrices and homogenous coordinates. Closed form inverse kinematics are used to move arm to desired point and images are converted to paths using linedraw.

I’ve been wanting to learn more about and implement SLAM to give my small robot some vision (and ability to map my house). I have some experience using LIDAR for collision avoidance and object detection, but not using it for a SLAM system. With this environment, I can create “robots” and let them move about randomly generated environments.

For the past year and a half, I have been leading the development of custom autonomously guided vehicles at Fisher Dynamics. After seeing demonstrations of various AGVs, I was fixated on the high cost. Throughout my time at Fisher, I implemented “local GPS” using digital signal processing, LIDAR and RFID scanners for navigation and state control, and a centralized server that could handle the hundred requests our devices threw at it every second. While much of my work is covered by an NDA, you can contact me to see approved pictures and videos.