This repository showcases the development of a custom autonomous robot designed for my Master's Thesis in the Department of Mechanical Engineering. The project explores the integration of ROS 2 for robot control and navigation.
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Kinematic Equations: The repository includes detailed kinematic equations that describe the motion of the robot.
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Controller Design: Various types of controllers have been implemented and tested to manage the robot's behavior.
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System Demonstrations: The results of the system's performance are demonstrated through simulations and real-world tests.
- Advanced Controllers: Application of different controllers to enhance the robot's capabilities.
- Obstacle Detection: Integration of obstacle detection mechanisms to improve navigation.
- Real-Time Challenges: Addressing and overcoming real-time challenges to ensure robust and reliable performance.
This section demonstrates the robot's waypoint tracking capabilities with a visualized trajectory:
waypoint_tracking.webm
This project has been inspired by the following sources: