Fast Robots

Project Documents & Progress Reports ECE 5160 | Fast Robots | Spring 2023 Zhongqi Tao | zt88@cornell.edu

Lab 1: The Artemis board

The purpose of this lab is to setup and get familiar with the Arduino IDE and the Artemis board.

Posted by Zhongqi Tao on January 31, 2023

Lab 2: Bluetooth

Establish communication between computer and the Artemis board.

Posted by Zhongqi Tao on February 7, 2023

Lab 3: Time of Flight Sensors

Equip the robot with sensors.

Posted by Zhongqi Tao on February 14, 2023

Lab 4: IMU

Add the IMU (Accelerometer & Gyroscope) to the robot.

Posted by Zhongqi Tao on February 21, 2023

Lab 5: Motors & Open Loop Control

Change the robot from manual to open loop control.

Posted by Zhongqi Tao on March 7, 2023

Lab 6: Closed-Loop Control (PID)

Understand the PID control and its practical implementation constraints.

Posted by Zhongqi Tao on March 14, 2023

Lab 7: Kalman Filter

Implement Kalman filter to supplement slowly sampled distance data by ToF.

Posted by Zhongqi Tao on March 28, 2023

Lab 8: Stunts!

Perform a stunt when approaching the wall and drive back.

Posted by Zhongqi Tao on April 11, 2023

Lab 9: Mapping (real)

Create an environment map based on ToF sensor measurements.

Posted by Zhongqi Tao on April 18, 2023

Lab 10: Localization (simulator)

Grid Localization using Bayes Filter on simulator.

Posted by Zhongqi Tao on April 25, 2023

Lab 11: Localization (real)

Grid Localization on the real robot.

Posted by Zhongqi Tao on May 2, 2023

Lab 12: Planning and execution (real)

Path planning to go through a few points.

Posted by Zhongqi Tao on May 20, 2023

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