ME/CS/EE 169: Mobile Robots

Spring 2022

The final project for ME 169 addressed the "kidnapped robot" problem, where we pick up a robot and set it in a new location in a known map. We solved this problem by using Monte Carlo localization, where we had 20 potential frames evaluated against the robot's depth camera data.

Code: https://github.com/sofiakwok/ME169

Youtube video: https://youtu.be/sgRI8FUdAdY

Course description: Mobile robots need to perceive their environment and localize themselves with respect to maps thereof. They further require planners to move along collision free paths. This course builds up mobile robots in team-based projects, writing the software from low-level hardware I/O to high level algorithms. The final systems will autonomously maneuver to reach their goals or track various objectives.

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