Encoder-Orientation Sensor Fusion for Ground Robot Navigation

This project focused on developing the core sensing, control, and navigation components for an autonomous ground robot, including:

• Low-level control: Developed an encoder-based motor controller using a Raspberry Pi Pico and MicroPython.
• Localization: Fused wheel encoder and orientation sensor data to estimate the robot's motion and orientation.
• Obstacle avoidance: Developed a velocity controller using LiDAR data and deployed it on an NVIDIA Jetson Orin Nano for autonomous obstacle avoidance.

The system was developed as a prototype for autonomous vineyard data collection. The LiDAR-based velocity controller was additionally evaluated on a TurtleBot to validate its obstacle avoidance performance.