Date of Award

2023

Document Type

Thesis

Terms of Use

© 2023 Dorothy Najjuma Kamya. All rights reserved. This work is freely available courtesy of the author. It may only be used for non-commercial, educational, and research purposes. For all other uses, including reproduction and distribution, please contact the copyright holder.

Degree Name

Bachelor of Arts

Department

Engineering Department

First Advisor

Matthew A. Zucker

Abstract

The goal of this project was to design software for the Fetch mobile manipulator robot to create a map of the second floor of Singer Hall, be able to locate itself on the map generated and navigate to a given position on the map. This was implemented within the Gazebo simulator initially, and then uploaded to the robot. The project can be extended to make the Fetch robot an interactive tour guide for Singer Hall, or to perform low-level tasks around the building like calling the elevator or carrying small objects between rooms. The interactive tour guide functionality is a particularly suitable application because the Fetch robot has audio capabilities and a robotic arm that make it more engaging than most robots like the turtlebot. This project was inspired after taking the Mobile Robotics course at Sarthmore.

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