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Mathematical implementation of robotics algorisms such as MDP, EKF, RRT, and etc.
computational_robotics's Introduction
- MDP System
- Planning
- Policy Iteration
- Value Iteration
- Trajectory planning of a tank-drive robot
- Implemented an RRT planner for generating trajectories given a special initial state and a desired goal region
- Visualized RRT evolution
- Compared performance of RRT* algorithm on the planner vs. original RRT planner used previously
- Two-wheeled robot with microcontroller in both ideal state and real state considered
- Mathematical setup of the robot in a rectangular space:
- Create a Kalman Filter based state estimator to generate a state estimate, based on motor commands and sensor measurements
- Implemented an Extended Kalman Filter (EKF)
- Evaluate the algorithms in simulated environments
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