SKOTEE Part 2: Navigation

Part 2 of the movie about SKOTEE. Done at the advanced course in mechatronics at KTH, Stockholm, Sweden.

Showing how the navigation works behind the scenes. Computer vision software from Skilligent helps the robot identify landmarks. This information, together with the wheel encoders (manually soldered onto the iRobot Create and connected to a separate microcontroller), is weighed together with an Extended Kalman Filter to help the robot navigate.

The obstacle avoidance system uses Virtual Force Fields, Histogrammic In Motion Mapping and four ultrasonic sensors to map obstacles in its environment and then steer the robot around them.

Dont hesitate to contact me if you have any questions about the system!

Category:

Science & Technology

Tags:

• Skotee
• Sister Kenny
• Irobot
• Irobot Create
• Kalman Filter
• EKF
• SLAM
• Localization
• VFF
• Skilligent
• Mikael Karlbäck
• Maria Lindroth
• Håkan MacLean
• Tom Olsson
• Jimmy Selling
• Johan Tholén
• Patric Jensfelt