1. Localization and Mapping
Yard Bot SLAM
Localization and Mapping
Modified Peg Perego kids jeep
Lidar Lite on a servo
PiCamera
Raspberry Pi
Arduino
Python
(Note, currently focusing on Localization)
Karl Kirsch

2. Sabertooth 40A Motor Controller Arduino Sensor Shield Raspberry Pi 2
(Quad Core)
Lidar Lite
PiCamera
Wireless Xbox
Controller Receiver
Arduino 9dof IMU
(use z-axis gyro)
POWERGEN External
Charger, mAh
5V 2A

3. Xbox Wireless Receiver
5V, 2A 5V
Servo
Lidar Lite
I2C
Raspberry Pi
Wifi
USB
5V Reg
Drive Motor Cmd
Arduino
Main
Sabertooth
2-Motor
Controller
1000 to 2000 usec
“Servo” pulses
Steer Motor Cmd
PiCamera
USB Hub
12 V, 12 Ah
Lead Acid
Arduino
IMU
Xbox Wireless Receiver

4. Raspberry Pi, Python …

5. Raspberry Pi, Python

6. Arduino, C++

7. References/Thanks to:
Claus Brenner SLAM lectures
Benj for the python class architecture and help with threading

8. Custom Magnetic Quad Encoder
Slider Pot for steering controller