Indoor Robot Localization and Mapping Using ZigBee Radio Technology

Kyle Hevrdejs, Jacob Knoll, Advisor: Dr. Suruz Miah

Robot Connections
Connections between BeagleBone Black, Stepper Motor, base XBee, and Pioneer 3-DX
Early Range Experiment
An early experiment gathering range measurements
MATLAB Simulation
MATLAB Simulation of EKF SLAM algorithm
V-REP Pioneer Model
The V-REP Pioneer 3-DX model
Range Test
Final test of range approximation
CRT
The completed customized radio transceiver
Beacon
The completed battery powered XBee beacon
XBee Interface
Testing interface between BeagleBone Black and XBee
Lab Work
Working in the lab
Stepper Motor Driver
The stepper motor driver and its power supply circuit
XBee Communication
Testing XBee wireless communication