Task

Using ROS to drive a robot to the desired target using PID algorithm and Kalman Filter. Linux Distro: https://www.ros.org/

Structure

Using a feedback loop there are 5 main ROS Nodes

• Controller -> Identifies direction heading and timing for accerelation. Node that send movement instruction to robot.
• Kalman Filter -> Filter that takes in the noisy sonar values and reduces the noise emitted from them
• PID algorithmn -> Algorithmn responsible for calculation movement and adjusting velocity
• Sonar Wrapper -> Grabs the sonar values

Input

Node Interaction

Implemented Kalman Filter

Implemented PID algorithmn