Autonomous and Fast Robots

This is a collection of projects for the course ECE4160/5160 (Fast Robots) @ Cornell University, 2024 Spring.

Project Overview

Developed and programmed an autonomous driving framework for a fast robot car from scratch, with sensing (multi-sensor fusion), localization (Bayes filter-based localization), environment mapping, control (PID), path planning, and navigation on a microcontroller board (SparkFun RedBoard Artemis Nano).

The whole course’s projects are divided into the following sub-projects.

Sub-projects

• Lab1 - The Artemis Board and Bluetooth
• Lab2 - IMU
• Lab3 - Time of Flight (ToF) Sensor
• Lab4 - Motors and Open Loop Control
• Lab5 - Linear PID Distance Control and Linear Extrapolation
• Lab6 - PID Orientation Control
• Lab7 - Kalman Filter
• Lab8 - Drift Stunts
• Lab9 - Mapping
• Lab10 - Localization with Bayes Filter
• Lab11 - Localization on Real Robot
• Lab12 - Path Planning and Execution