Encoder-Orientation Sensor Fusion for Ground Robot Navigation

To achieve autonomous navigation for a ground robot, I worked on the development of:

• Encoder-based low-level controller developed with Raspberry Pi Pico.
• Sensor fusion for robot localization using wheel encoders and orientation sensors.
• Velocity controller design for LiDAR-based obstacle avoidance using NVIDIA Jetson Orin Nano.

The aim of this project was to develop a prototype rover that could be scaled for vineyard data collection. The velocity controller was also tested on a TurtleBot to validate the obstacle avoidance performance.