Basic mobile robot design with Thymio

This is the course project of Basics of mobile robotics. The project goal is to have a minimal but comlpete mobile robot pipeline design on Thymio robot. The project covers basic components of a mobile robotic task as shown below:

• global mapping with Arcuo markers and HSV
• path planning with A* on visibility graph.
• kalman filter with odometry and camera.
• motion control with waypoints following.
• local avoidance with left-wall following.
• robust to kidnap and unexpected disturbance.
• live visualisation of camera, filtered estimation and uncertainties.

Demo: