Autonomous Dryvacuum Cleaner for Enriched Uranium

Description

This is the repository holding the catkin workspace to our ROS-controlled robot being developed for Senior Design 2 at FIU, Fall 2021.

Probem Statement

The team designed the autonomous dry-vacuum cleaner to navigate through facilities and effectively collect any debris in its path. This device will identify any debris and safely pick it up without user intervention. The device will be easy to maintain, will avoid obstacles, and will not have any wireless communication technology.

Proof of Concept Video

https://www.youtube.com/watch?v=D23Nu0H2RLo

Technologies

• Python
• C/C++
• ROS
• RaspberryPi 4
• Arduino Uno
• RPLidar A1

Environment

This project was developed on a Raspberry Pi 4B and an Arduino Uno. It utilizes ROS (ros.org) for the software stack.

Pictures

Design

The Robot

Code Owners

• Christopher Milian
• Nathaly Valle
• Marcelino Gonzalez
• Angel Santana
• James Carranza