Location: Ann Arbor, MI | 09/2024 - 12/2024

Gitlab:

https://gitlab.eecs.umich.edu/botlab-am-team-3/mbot-firmware-am-team-3

​https://gitlab.eecs.umich.edu/botlab-am-team-3/mbot-autonomy

 

I designed and programmed an advanced feedback and feedforward low-level wheel speed controller, gyrodometry (fusing IMU and encoder odometry sensor data), and pure pursuit waypoint following for a wheeled robot platform. Alongside low-level functionality, I also developed and validated a SLAM system, A* path planning, and frontier exploration from scratch. This allowed the MBot platform to successfully explore and map out a previously unknown maze or area, localize itself within a given map, and follow commanded waypoints robustly with respect to path shape and speed.

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Development for the lower level wheels speed controllers were done in C, and flashed onto a Pico. This Pico then communicated with a RPi 5 through USB, which generated higher level body velocity commands based on navigational logic, either being following a set of waypoints, or a path planned by the exploration module.