Ploughing through Clutter: Robust Non-Holonomic Motion Control
Python, Controls, Nonlinear Optimization, Manipulation, PyBullet, Wheeled Locomotion, Turtlebot
What problem does this solve?
Traditional PID control for tracking a moving target is inherently unstable on an under-actuated non-holonomic robot such as this one. Ultimately, any obstacles that come in the way can create errors so large, they’re impossible to recover from.
Limit Cycles
My approach instead uses a time-invariant controller based on a non-linear vector field.
This Post is under construction 🛠️
Building a perfect portfolio from the ground up is a demanding process.
Over the coming weeks, I will be adding more information about my personal and professional projects.
If you’re interested, please check back on July 30th, 2024.
Your curiosity is greatly appreciated :)
In the meanwhile, the posts on:
- Search-and-Rescue Robot Dog: Autonomous Exploration and Visual SLAM with Unitree Go1,
- Complete Extended-Kalman-Filter SLAM Pipeline in C++ from Scratch,
- Dexterous Manipulation through Virtual Reality,
- Optimized Torques for Load Carrying,
- Dancing Hexapod - Full SE3 Body Pose Control,
- Navigation and Kalman Filter Localization of Self Driving Car,
- Mobile/Whole-body Manipulation with KUKA youBot,
- Legged Robots for Object Manipulation: A Review,
- TeleOperation of Robot Swarms,
- Home Automation with Clap Sequence Control,
- Robot playing T-Rex Game, and
- Maze Solver
are complete and ready for viewing!