For my undergraduate graduation project, I designed and built a mobile robot capable of autonomous navigation in unknown environments. I managed both the software and hardware sides of the project end to end.
Highlights
- Implemented a MATLAB-Simulink-based PID controller on an Arduino Mega with a BTS7960B motor driver.
- Performed 3D pre-mapping of the environment with a ZED2 stereo camera and integrated YOLO-based object detection.
- Applied Particle Filter and Triangulation algorithms for real-time localization.
- Used the A* algorithm for path planning.
- All software was developed in Python and deployed on an NVIDIA Jetson Xavier.
Outcome
The robot maps its environment, plans the shortest route to a goal, and executes tasks autonomously while detecting and avoiding obstacles in real time. This project laid the foundation for the AMR/AGV field I now work in professionally.