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COMP0130-CW1: Integrated Navigation for Robotic Lawnmower

This project aims to utilize simulated sensor data to compute the best possible horizontal position, velocity, and heading solution for a robotic lawnmower operating in a simulated environment in London. The sensors include a GNSS receiver, wheel speed sensors, a magnetic compass, and a low-cost MEMS gyroscope.

Repository Structure

  • /COMP0130 Coursework 1 instructions 2024.pdf - Contains the instructions for this coursework.
  • /report - Includes the project report and documentation for the code.
  • /code - Contains all CSV files for sensor measurements, as well as the MATLAB source code.

Sensor Specifications

  • GNSS Receiver: Assumed error specifications detailed in coursework instructions.
  • Wheel Speed Sensors: Incorporates errors from varying tyre radii and wheel slip.
  • Magnetic Compass and Gyroscope: Utilized for heading measurements with specified error characteristics.

Getting Started

  1. Clone the repository to your local machine.
  2. Ensure you have MATLAB installed (the project is developed using MATLAB).
  3. Navigate to the /code directory and run the main script to generate navigation solutions.