Building autonomous robotics algorithms from first principles using C++ and Webots.
This project documents my journey implementing robotics and control algorithms from scratch, focusing on:
- Control Systems
- Sensor fusion
- Filtering and Signal Conditioning
- Navigation algorithms
- Simulation-based robotics development
All simulations are built and tested in Webots.
| Topic | Status |
|---|---|
| Line Following | ✅ |
| PID Control | ✅ |
| Maze Solving | 🚧 |
| Path Planning | Planned |
| SLAM / Localization | Planned |
| Multi-Agent Systems | Planned |
A simple reactive controller using infrared sensors to follow a line.
- Sensor feedback
- Thresholding
- Differential wheel control
- Reactive robotics
Wall-following experiments exploring proportional, integral, and derivative control behavior.
Exploring how proportional gain affects:
- Responsiveness
- Oscillation
- Steady-state behavior
- Higher proportional gain increases responsiveness
- Excessive gain introduces oscillation
- Sensor noise significantly affects stability
Adding derivative damping to reduce oscillation and improve stability.
- Damping
- Error rate-of-change
- Stability improvement
- Noise sensitivity
Introducing integral control to reduce long-term steady-state error.
- Integral accumulation
- Steady-state correction
- Integral windup
- Controller balancing
Applying filtering techniques to smooth noisy sensor measurements before control computation.
- Signal filtering
- Noise reduction
- Sensor smoothing
- Real-world controller robustness
Work in progress.
Planned topics:
- Graph search
- Wall following
- Flood fill
- Path memory
- Autonomous exploration
- Occupancy grid mapping
- A- path planning
- Particle filters
- Kalman filters
- Visual SLAM
- Multi-robot coordination
- Reinforcement learning experiments