Context
Capstone project: built an autonomous scooter platform using onboard perception and ROS-based navigation.
My Contribution
- Implemented motor control on Arduino
- Integrated an Intel RealSense D435 for perception
- Deployed Nav2 on a Raspberry Pi 4
- Tuned planners and controllers for stable driving
Technical Details
Stack:
- RealSense depth sensing
- SLAM + localization
- Nav2 global + local planning and control
- Embedded motor driver interface
Main constraints:
- Limited onboard compute
- Real-time motor control stability
- Sensor noise handling
Result
- Fully autonomous driving in structured environments
- Real robot deployment (not just simulation)
Links
- Repository: https://github.com/bxtbold/autonomous-scooter