- Lin Zhicheng [A0199536L]
- Rishab Patwari [A0184456W]
- Ong Jia Yuan [A0201643U]
- Nguyen Tuan Dung [A0201264W]
- Design a FSM and Generate Trajectories for Pure Pursuit in
ee4308_hector/src/main.cpp
- Use look-ahead distance or duration to gen targets from traj
- Use Cubic Spline Trajectories & Predict the turtle's motion when generating these traj
- Justify ALL Param
2. Design a PID motion controller in `ee4308_hector/src/move.cpp` - Satisfy all motion requirements above - Justify the GAINS used. Use data collected while using the ground truth for the hector
3. Program an extended Kalman Filter (EKF) to estimate the pose of the hector in `ee4308_hector/src/motion.cpp` - Justify and collect data for the noise values used - 4-man teams must implement - GPS - Magnetometer - Barometer - Sonar