Various robotics and control projects, provided for reference.
- Arduino-based mobile robot featuring basic sensor integration, searching and driving
- Searches a grid 'city block' and scans surroundings using an IR camera. Once a source of flame has been found, system will aim its extinguisher (a fan in our testing) at the flame and extinguish it before returning to its original location
- C++ driver code with PID to operate the motors and encoders on the arm
- MATLAB scripts to search workspace for different color objects, set world coordinate waypoints, calculate kinematics and provide waypoints to the C++ driver for arm operation
- Simulates a Turtlebot3 in Gazebo and RViz equipped with a LIDAR for environment sensing. Uses an occupancy grid and gmapping to keep track of the environment. System expands all obstacles in the grid by half the diameter in the of the robot to avoid movement impediments. Mapping/exploration procedure is as follows:
- Robot uses available distance information to synthesize a model of the world
- Using A*, travels towards a visible point closest to predetermined goal while avoiding obstacles
- Updates map after pathfinding, travels again towards destination
- If location is equidistant from destination or enclosed by walls, A* will try alternate paths
- Once location is discovered and reached, travels back to starting location
- Simulates a Franka Emika Panda arm in a Gazebo and RViz environment and uses MATLAB to model the system and provide proper torque values to the simulated motors through ROS for smooth trajectories
- Completes basic sorting task to demonstrate this behavior