Robotics · RGB-D Mapping · Embedded Integration
Reconnaissance Robot — RGB-D Mapping & Remote Control
Designed, programmed, integrated and tested a reconnaissance rover combining Kinect-based 3D mapping, ultrasonic 2D mapping, environmental sensing, GPS/GSM reporting and remote control.
System overview
Author
Mohammed Mahyoub
Role
End-to-end implementation: system design, programming, assembly, integration, testing and documentation.
Mapping
Integrated a Microsoft Kinect RGB-D sensor with RTAB-Map on Linux; built the required software and sensor drivers. Used ultrasonic sensing for 2D mapping.
Interfaces
Integrated a four-motor rover, a touchscreen controller, XBee sensor telemetry, nRF control, Bluetooth mapping data and GPS/GSM location reporting.
Integration
Resolved software-build and Kinect-driver compatibility issues; retained a wired USB connection for Kinect depth data.
Engineering rationale
Two mapping paths
Kinect supplies colour and depth to RTAB-Map on Linux for 3D mapping. Ultrasonic sensing supplies a separate 2D mapping path. These are complementary interfaces; Bluetooth mapping data is not described as carrying the Kinect depth stream.
Control and reporting interfaces
The four-motor rover and touchscreen controller are integrated with nRF control, XBee sensor telemetry, Bluetooth mapping data and GPS/GSM location reporting. Separate channels make it necessary to document which data uses which link.
The integration constraint
Software builds and Kinect drivers required compatibility work. The retained wired USB connection is a documented engineering decision for the depth-data path. The new diagram is a functional overview rather than a circuit schematic or a claim about undocumented motor-driver wiring.
Evidence and extension
The public description records design, programming, assembly, integration and testing. Source code, raw maps and physical-build photographs are not present in the inspected repository. The acceptance checklist below is a suggested way to document those artifacts when available.
Evidence and validation
Suggested evidence checks for reviewing this work. These are not claimed pass results.
- Driver compatibility and USB depth acquisition
- RTAB-Map output with scene context
- Command and telemetry channel mapping
- Motor/sensor response and location reporting
Source gallery
Original implementation photographs and raw results were not available in the inspected public repository. The diagrams above explain the documented scope; they do not replace implementation evidence.