Intelligent Ground Vehicle Competition
Built a vision-based autonomous differential drive robot
At Team Abhiyaan, I built a vision-based autonomous differential drive robot “Vikram”. With Vikram, we competed in the AutoNav and Cyber Challenges at the 30th Annual Intelligent Ground Vehicle Competition (IGVC) in the USA. We won 1st place in both the AutoNav Design and Cyber challenges.
In this project, I led the software team in the development of the robot. My key contributions include:
- Navigation Stack Development: Designed and implemented a robust ROS-based navigation stack on Raspberry Pi 4 and Jetson Nano, fusing sensor data from encoders, GPS and visual odometry for precise perception and navigation.
- Control and Path-Planning: Developed and tuned PID controllers, implemented path-planning algorithms and created a GPS-based global planner with a real-time local planner for efficient motion control.
- Simulation and Validation: Built a simulation using ROS and Gazebo to test and validate path-planning and perception algorithms.
The team and the robot "Vikram".