Autonomous Robot Navigation is a technical elective course. It covers robot platforms & modeling, control structures, sensing & estimation, localization, and motion planning. Most labs in this course required implementing algorithms on Jaguar Lite Robots. The course concludes with a final navigation competition for which the team implemented and evaluated probabilistic motion planning algorithms.
The labs in the course are as follows:
- Odometry Localization: Modeled differential drive robot and error from state-estimation through odometry.
- Point Tracking: Developed PID motor controller and state-space point tracking controller.
- Particle Filter Localization: Developed and tuned a particle filter to localize the robot in the known start location, wake-up robot problem, and kidnapped robot problem.
- Motion Planning: Develop an implementation of a Probabilistic Road Map to navigate the robot through a complex physical environment.
Here is a selected lab report: