Psi (Ψ)- Bot [Indoor navigating office bot]

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This is an indoor navigating office robot that can autonomously travel in the premises and do basic tasks.

Given a prior knowledge of the environment and the goal position, the robot has the ability to safely move towards the goal using its wheel and visual odometry data .Visual odometry is obtained through KINECT which provides information about the obstacles surrounding the robot,allowing the application of path-planning algorithm such as Dijkstra's to achieve safe and robust navigation.Wheel odometry is obtained through ROBOTEQ MDC2250,which provides encoder counts helping in localization of the robot.

This is demonstrated in the video given below:-