https://dimpleb0501.github.io/tags/autonomous-robotics/Autonomous RoboticsHugoBlox Kit (https://hugoblox.com)en-usFri, 20 Sep 2024 00:00:00 +0000https://dimpleb0501.github.io/media/icon_hu_7c1d52d68da51ff9.pnghttps://dimpleb0501.github.io/tags/autonomous-robotics/https://dimpleb0501.github.io/projects/ground-robot/Fri, 20 Sep 2024 00:00:00 +0000https://dimpleb0501.github.io/projects/ground-robot/<p align='justify'> To achieve autonomous navigation for a ground robot, I worked on the development of: </p> <ul> <li>Encoder-based low-level controller developed with Raspberry Pi Pico.</li> <li>Sensor fusion for robot localization using wheel encoders and orientation sensors.</li> <li>Velocity controller design for LiDAR-based obstacle avoidance using NVIDIA Jetson Orin Nano.</li> </ul> <figure> <img src="ground_robot.gif" alt="Autonomous ground robot navigation"> <figcaption>Figure: Autonomous navigation and obstacle avoidance for ground robot</figcaption> </figure> <div style="clear: both;"> <div style="float: right; margin-left: 1em; margin-top: -40px"> <figure> <img src="turtlebot.gif" alt="TurtleBot obstacle avoidance" width="300"> <figcaption>Figure 2: Obstacle avoidance with TurtleBot</figcaption> </figure> </div> <div> <p align='justify'> 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. </p> </div> </div>