WHAC (We Have A Car)

Created on 27 Sep 2019

An indoor navigation robot that uses SLAM and LIDAR to plan a path through a known environment

We’re lazy human beings and we want to have a robot do all our menial tasks. Wouldn’t it be amazing if a robot could go from one place in a building to another place, carrying whatever you wanted it to. Like maybe carrying packages from the post office to roboclub? Or delivering food to consumers at Tepper? Our primary goal is to map the entirety of the bottom floor of the UC and perfect the navigation of our robot in this area. We also plan to make a simple UI where users can select the destination of the robot and have it instantly plan a path to get there. We plan to split the work by the different systems that are detailed below, and then integrate them through ROS. If this goes according to plan, we aim to expand the map beyond the UC and potentially be able to map different areas, such as the first floor of the UC or the first floor of Tepper.


Matthew de Soto


Neel Gandhi


Rishabh Jain


Siddharth Girdhar


Renee Wallace

Part Cost Quantity Total
3.25" Omni-Directional Wheel (4-Pack) $43.99 1 $43.99
Omni Wheels for Robot
Gears $14.49 1 $14.49
Gears for Robot
Optical Encoders $21.99 2 $43.98
Optical Shaft Encoder
#6-32 x 1/2" Screw (50-pack) $4.96 1 $4.96
Screws for assembling robot
#8-32 x 1/2" Screw (100-pack) $7.49 1 $7.49
Screws for assembling robot
Metal C-Channel Pack 1x2x25 (6-pack) $30.00 2 $60.00
C-Channel used for base of robot
Vex Battery $29.99 1 $29.99
Battery to power robot
Vex Motor $15.00 4 $60.00
Motors for robot
ZED Mini $449.00 1 $449.00
Depth Camera - main SLAM sensor
AmazonBasics 4 Port USB to USB 3.0 Hub with 5V/2.5A power adapter $17.99 1 $17.99
USB Hub for connecting to jetson
INIU Power Bank $14.99 1 $14.99
Powerline for electronics (jetson + lidar)
Pololu 5V, 5A Step-Down Voltage Regulator D24V50F5 $14.99 1 $14.99
Step Down converter for 5V line
RoboClaw 2x15A Motor Controller (V5E) $89.99 1 $89.99
Motor controller
Arduino Mega 2560 R3 $44.95 1 $44.95
Arduino for reading analog encoder signals
Project Totals: 19 $896.81
Track 2 Base Budget: $900.00
Preferred Vendor Budget Bonus: $0.00
Remaining Budget: $3.19