Niko's Project Corner

Robot localization and path planning

At spring 2012 I did a course in robotics, which in­volved pro­gram­ming a semi-au­to­matic robot which could fetch items from pre-de­ter­mined lo­ca­tions and re­turn them back to cor­rect de­posit bins. I had a team of four peo­ple, and I solved the prob­lems of con­tin­uous ro­bust robot lo­cal­iza­tion, task plan­ning and path plan­ning. Oth­ers fo­cused on the over­all source code ar­chi­tec­ture, state-ma­chine logic, closed loop driv­ing con­trol and other gen­eral top­ics. The used robot can be seen in Fig­ure 1.