Autonomous Warehouse Inventory Rover
A rover that maps a warehouse, navigates it to ±2 cm, and reads the shelves with a single camera.
- Period
- November–December 2025
- Kind
- hackathon
- Stack
- ROS 2, Nav2, Gazebo, EKF, Hybrid A*
Built for Inter IIT Tech Meet 14.0, where I led the team to 2nd place among 23 IITs.
- A pose-graph SLAM pipeline fusing LiDAR, IMU and wheel odometry through an EKF.
- Hybrid A* with Reeds–Shepp planning integrated into Nav2, for drift-minimised navigation with ±2 cm indoor positioning accuracy.
- Monocular vision on a servo-mounted RGB camera for rack detection and pose estimation. It replaced the depth camera and still handled QR-based shelf identification, OCR and occupancy estimation.
- A Gazebo digital twin of the warehouse, used to validate the autonomy stack before it ran on the real rover.