Abstract
The TurtleBot is a customizable robotics platform that can use various sensors to map its location, determine a path to take, and recognize objects. This is achieved by using a relatively low-cost pre-built robot framework with several commercially available components. The Raspberry Pi main controller runs robot movement software and outputs lidar data while the host PC runs computationally intensive exploration and object recognition algorithms. This study developed a search and explore algorithm based on the Breadth First Search algorithm for the TurtleBot to explore an area and search for an object using a camera. A framework was also outlined to explore possible ways to incorporate the Intel RealSense D435i depth camera into the current TurtleBot setup to be able to recognize a selected object in real time and use the depth information to assist a grabbing arm in grabbing its target.