Rover Test Run - Navigation (Dijkstra + EKF + Differential-drive Control) - ver.2

The unwanted pausing problem during trajectory following has been solved by modifying the position control method.
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This is the integration of all the part in this project. The Rover now can reach the desired goal position from a start position automatically. This was achieved by generating an optimal path within an occupancy-grid-map (Dijkstra algorithm), localizing itself using gyroscope, apriltag, and the commanded speed (Extended Kalman Filter), and tracing the path using feedback control for differential-drive vehicle.

Тэги:

#Robot #Navigation #Vehicle_Control #Dijkstra #Kalman_Filter #Extended_Kalman_Filter #Differential-drive #apriltag #gyroscope #Autonomous_Vehicle #Trajectory_Following #Rover #Path-planning #Localization #Feedback_Control #Position_Estimation

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