Updated Project: Updated repository link to use the V2 branch
A robot tank with path following, sensor fusion, web dashboard, and obstacle avoidance all from scratch using an esp 32 and raspberry pi.
I use AI for research and simple debugging, especially to research how these path following and sensor fusion algorithms work.
Worked on the path planner on the frontend. Used Konva to create a simple Quintic Hermite Spline editor and freehand path drawer. Additionally, I fixed bugs with the esp32 code and I added more calibration testing scripts
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added RAMSETE controller, trajectory generation from quintic hermite splines, updated embedded code to use RTOS for PID/sensor read tasks. Implemented EKF for sensor fusion and added Pure Pursuit for path following. Finally, wired the esp32. (can’t run code yet since I’m waiting for soldering equipment to wire motors).
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