In this theme, we will develop a Self-Balancing Bike, which will deliver various items throughout the cityscape. The delivery order will be decided by the priority of the package, thus posing a challenge in path planning. While development, we will learn the basics of the Control System and LQR controller design. The main challenges faced in this theme will be:
- Balancing of 2-wheeled Delivery Bike
- Autonomous Navigation of Delivery Bike
- Pickup and delivery in the arena
Learnings: Robot Simulation (CoppeliaSim), Control Systems, Euler-Lagrange Mechanics, Linear Quadratic Regulator, Lua Programming, Octave Programming, 3D Designing
Click here to view the hardware implementation
- Control Bootcamp playlist: https://www.youtube.com/playlist?list=PLMrJAkhIeNNR20Mz-VpzgfQs5zrYi085m
Note: This repository was made public only after the competition ended and the final code was uploaded for future references.