Autonomous navigation for ground robot

Position - Senior Engineer – State Estimation and Control at Technology Innovation Hub for IoT and IoE (TIH-IoT), IIT-Bombay
Technical skills - Python, Robot operating system (ROS), Micropython

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To achieve autonomous navigation for ground robot, I was involved in the development of,

  • Encoder-based low-level controller developed with Raspberry Pi Pico,
  • Sensor fusion for robot localization using encoders and orientation sensors,
  • Velocity controller design for lidar-based obstacle avoidance using jetson orin nano.
gnd_bot
Figure: Autonomous navigation and avoidance for ground robot
detect object
Figure 2: Obstacle avoidance with turtlebot

The aim of this project was the development of a prototype rover that can be scaled up and used in the vineyard for data collection. Parallely we tested the velocity controller on turtlebot to validate obstacle avoidance performance.

Dimple Bhuta
Dimple Bhuta
Principal Engineer – State Estimation and Control

My research interests include robotics, computer vision and bio-inspired design.