Date of Award

5-17-2023

Document Type

Masters Project

Abstract

This project aims to restore and upgrade the UAF Clearpath platform assets, develop a web application for visualization and control, and document the process. The platforms were upgraded with the latest Clearpath Linux distributions and ROS packages, and their base stations were restored with correctly configured routers. A web application was created to provide convenient visualization and control of the UGVs through a user interface tuned for desktop and smartphone web browsers. The system allows for full control/visualization and read-only visualization through different endpoints, with driving and autonomous navigation features available through the control endpoint. The system also provides a two-dimensional map with the robot and obstacles localized on the map, and an interface for setting autonomous navigation goals. The project was thoroughly documented, and the source code and documents will remain available on GitHub for future use. The system is easily extendable and customized, allowing for the development of new navigation algorithms, user interface features, and endless other possible future projects involving Clearpath platforms.

Handle

http://hdl.handle.net/11122/14740

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