Unfortunately due to COVID19, we were unable to work in-person, and there are no videos or pictures of the final product!

The Goals

For Unified Robotics II: Sensing, I worked with two other students, utilizing the Pololu Romi Robot kit to develop a robot that can transport items within a closed space. In order for the robot to navigate around an area, we used sensors such as Sonar Sensor, IMU, and Encoders to carry out position estimation and collision detection. To ensure the security of the transporting item, we utilized the acceleration information from IMU to perform acceleration control. In this way, the robot will control its acceleration when traversing uneven terrain, and to prevent the item on the robot from falling.

What I did

• Simulated the transportation of supplies in a building for quarantine with a delivery robot.
• Implemented collision detection and acceleration control for steady motion.
• Programmed position estimation using IMU and wall following using sensor feedback from sonar to allow robot navigation along the hallway of a building.