Move-X
By building a omni-directional robot platform, this project is mainly for me to learn mechanics and control, as well as robot state estimation and sensor fusion for autonomous vehicles.
Low Level:
Mecanum wheels locomotion strategy. Using DJI Robomaster hardware.
- mechanical design
- mecanum wheel kinematics
- motor control: closed-loop velocity control
- publish wheel odometry and IMU data through serial communication
High Level:
Laser-based SLAM and Navigation.
- implement slam-gmapping
- implement navigation related ros packages
- develop own solution for slam and sensor fusion
(combining the theoretical study of Probabilistic Robotics and State Estimation for Robotics)
Testing Chassis
Testing odometry
Testing slam-gmapping
