Robotics Institute 

University of Michigan, Ann Arbor

© 2017 by Bruce Personal Website. 

Updated on 8/21/2017

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