Autonomous Air Quality Monitoring Mobile Robot

Collaborative Robotics Systems Engineering Project

System Architecture & Overview

This project involved the collaborative development of an autonomous mobile robot designed to map indoor air quality and detect environmental carbon dioxide thresholds. The system was engineered to monitor and localize spatial gas concentrations in real-time to ensure municipal and occupational safety.

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Key Technical Contributions

Embedded Middleware & Hardware Integration

• ROS Integration: Utilized the Robot Operating System framework to establish robust communication pipelines between a Raspberry Pi single-board computer and an Arduino microcontroller.

• Sensor Abstraction: Wrote custom nodes to read, process, and publish raw air quality data from the onboard carbon dioxide sensors to the primary robot coordinate frames.

Autonomous Navigation & Laser Mapping

• LiDAR Navigation: Designed and implemented autonomous path planning and obstacle avoidance algorithms utilizing high-frequency laser scan data from the onboard LiDAR sensor.

• Spatial Localization: Integrated distance readings to map the environment, ensuring complete coverage of the target area while correlating carbon dioxide points with specific spatial coordinates.