Date Start
Date End
Autumn 2020
Embedded Systems Final Project
Robotic Localization, Path Planning, Execution
In this class, I created a grid localizing and path planning robot which could determine its position on a map, and plan a route to an end goal, using a variety of on-board sensors and off-board computer calculations.
After detecting wall distances around the vehicle using a time-of-flight sensor during a 360-degree rotation, the robot uses bluetooth communication to transmit that data to a laptop. That laptop uses a Bayes filter to probabilistically determine the vehicle's position and orientation on a known map.
Because this was a lab course, more complete documentation is available on a separate site where each stage of the build process was recorded for grading purposes. Please visit the Hot Wheels of Inquiry website for more details.
Class Description
Fast Robots was a course designed to teach us principles of robotic mobility. It went beyond previous courses which centered on slower servo-based wheeled robots. It also served as an introduction to aspects of control theory relevant to the field.
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