Final Year Capstone Mechatronics Project. Designed to be a cost effective platform for research and development of autonomous mobile robotics. The non linear and unstable dynamics of the Two Wheel Self Balancing Mobile Robot (TWSBMR) make it a challenging platform for control and navigation.
Low Level motor control implemented on STM32F411RE microcontroller, using LibOpenCM3. High Level Monocular Navigation uses RaspberryPi 5 with the Pi Camera V3. ComsTerm used as engineering UI.
The project was built around milestones of autonomy:
- Stabilization
- Positional Control
- Teleoperation
- Path Following
- Path Recovery
- Track Racing
