Mobile Robotics

This repository is a study on mobile robotics at the Universidade Federal de Juiz de Fora using classic algorithms implemented in MATLAB.

Task 1 - Follow Path

This task consists of making a differential robot travel a trajectory with the initial letter of my name.

Task 2 - Twiddle Autotuning PID

This task consists of using the Twiddle algorithm to find the best parameters of the PID controller and to minimize the distance from the robot to the line, as well as to minimize variations in the robot's angular speed.

Task 3 - Avoid Obstacles (Potential Fields)

This task consists of using the potential fields navigation method to make the robot avoid obstacles and reach the destination point.

Task 4 - Bayesian Filter

This task consists of using the Bayesian Filter to increase the accuracy of a sensor through various measurements for the position of the robot.

Application on a Real Robot