# Mobile Robot
###### tags: `ROBOTICS`, `perception`, `navigation`, `localization`, `ROS`
## Brief description
#### MCU
* Raspberry Pi 4B (RPi)
#### ACTING
1. Cascade Control & PID
2. 3-DOF rigid-body coordinate transforms
3. Planar kinematics of a differential-drive ground robot
4. Motion models with uncertainty

#### PERCEPTION
1. Quadrature Encoders
2. MEMS Inertial Measurement Unit
3. 2D LIDAR Rangefinders(RP-LiDAR)

#### REASONING
1. Particle Filter Localization
2. Simultaneous Localization and Mapping(2D Mapping)
3. A* search
4. Path planning

<!-- #### Mutitasks:
1. Utilized and fused muti-sensors to explore unknown environments and do motion planning via A* navigation.
2. Executed Raspberry Pi with basic ROS, LiDAR, IMU, and PID motion controller from scratch.
3. Developed localization and mapping by fusing sensor data from LiDAR, IMUs (particle filter). -->
#### Goal:
1. Explore unknown maze.
2. Solve kidnapped robot problem.


## Mapping, Path planning and localization

## Robot exploration demo
{%youtube DB1W08p7v88 %}
{%youtube 43_tIGymQdI %}

## Kidnapped robot demo
{%youtube kOvHb_qn2iQ %}
## Code
https://gitlab.eecs.umich.edu/s1-t8/botlab-f22
Not open to the public (domains outside the umich)
## Mobile Robot Report
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