Worked on manufacturing and developing an autonomous omni-directional mobile ground robot. Multiple search and sampling based algorithms were implemented for the autonmous traversal of the robot.
Sensors like LIDARs, IMUs, wheel encoders and stereocameras were integrated to get reliable odometry data for the robot's state estimation and perception. Hence making it traverse through any indoor environment completely autonomously.
The initial code stack was tested on a turtlebot first before testing it on the omni-directional robot.