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ROBOT MOTION PLANNING & CONTROL

  • Implemented Bug algorithms to find a path from start to goal with obstacles avoidance using a raspberry pi based bot.

  • Used Aruco marker and OpenCV to localize the bot on the predefined map.

  • Dead-reckoning for open-loop navigation.

  • Multithreading to get the best out of raspberry pi.

PID for Distance & velocity control

Using wheel encoders for velocity control and determining traveled distance.

Navigating using Aruco marker

Navigating in the predefined path, localizing using Aruco markers.

Bug Algorithm | localization using Aruco marker

Implementation of bug 0|1 algorithm; travel from start to goal, performing obstacle avoidance and localizing the bot in XY plane using Aruco marker smartly placed on the ceiling

©2020 by Kishan Patel.

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