Autonomous Two-Dimensional Path planning of a Differential Drive Robot
Developer @e-YAntra, IITB
Designed a differential drive robot to pick objects and drop it to a line following robot having no communication with either PC or any other
robot using feedback from camera placed at ceiling height
Differential drive robot was made from scratch using quadrature encoder motors, an arm mechanism , Xbee module and high torque motors
Pose estimation of the robot using ArUco markers mounted on themm
Utilization of Remote API (Python) in V-REP for real-time emulation and non-holonomic path planning of the robot in real world
Implementation of PD controller to maneuver the robot through the estimated path
This project was later converted to one of the theme/Problem statement in e-YRC'17
- Designing of Bot
- Localization using ArUco marker
- Simulation in V-REP
- Non-Holonomic Path planning
