Date of Award


Document Type



Santa Clara : Santa Clara University, 2022.


Electrical and Computer Engineering

First Advisor

Maria Kyrarini

Second Advisor

Sally Wood


Autonomous machines are becoming more popular and useful with even self-driving cars being a thing of the present. Most of these machines navigate using cameras and LiDAR which does not detect glass, therefore the machines give misleading results when objects and obstacles are transparent to the wavelengths of the light used. This is problematic in modern building floor plans with glass walls. A solution is to build a ROS system that fuses ultrasonic sensors with LiDAR sensors in order for a robot to navigate in a building that has glass walls. Using both sensors, the final product is a robot that creates a 2D map using Simultaneous Localization and Mapping (SLAM) as well as other pertinent Robotics Operating Systems (ROS) packages. This map enables any mobile robot to pathplan from point A to B on the now created 2D floor plan that incorporates glass and non-glass obstacles. This saves time and energy when compared to a robot that moves from point A to B that has to continuously change paths in the presence of obstacles.