Abstract— We implemented an odometry estimation, a PID controller, Simultaneously Localization and Mapping, A* planning and an exploration algorithm. We also used VX world to visualize and test how well our methods were working. This whole task is to build up a system to explore a map, find a key to the treasure chest and then sneak out the map.

Odometry

PID Control

Particle Filter

A* Algorithm

Exploration State Machine

Exploration of the environment

Autonomous navigation and exploration

Autonomous navigation and exploration

Autonomous navigation and exploration
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Intrinsic Calibration

Intrinsic Calibration

04:39
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Exploration

Exploration

00:41
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