This repo contains three homework assignments and a final project for a mobile robotics course.
Each folder has its own README with details and figures.
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HW1 – Kinematics & Control
Wheel-velocity cases, angle controller, and inverse kinematics with trajectory plots.
→ See HW1/README.md. -
HW2 – Localization & Mapping
Compare GPS/Compass/Encoders on X–Y and θ–t; then build a hallway map and segment it (Split & Merge / IEPF).
→ See HW2/README.md. -
HW3 – Local Navigation (Bug Algorithms)
Implement Bug0, Bug1, Bug2 (with stuck handling) to reach the door, then wall-follow to the target; includes metrics and trajectories.
→ See HW3/README.md. -
Final Project – Indoor Mapping & Navigation
Phase 1: Mavic wall-follows to map the apartment and logs door QR codes.
Phase 2: TurtleBot (no GPS/compass) uses particle filtering to localize and navigate to a selected door.
→ See Final Project/README.md.