CAD modeling of a JetRacer Minicar and Webots Simulation of SLAM algorithms

This thesis explores autonomous mobile robotics using the JetRacer minicar platform. It comprises CAD modeling and Webots-based simulation of Simultaneous Localization and Mapping (SLAM) algorithms. The JetRacer CAD model was provided and used to construct a model in Webots, an open source and multi-platform desktop application used to simulate robots. It provides a complete development environment to model, program and simulate robots. The deployment of the JetRacer model in Webots allows the evaluation and testing of SLAM and control algorithm for autonomous navigation. Additionally, this work extends beyond the standard JetRacer platform by incorporating a series of customized components and enhancements. These customized additions enable the JetRacer to integrate with LiDAR sensors and camera relocation. The thesis presents simulation results through customized RViz2 visualizations and Webots simulations, emphasizing mapping accuracy, navigation effectiveness, and performance of control strategies. The tools and software developed as a ROS 2 packge in this thesis can also be applied to real-world robots, allowing for experiments with similar models.