Teknofest 2024 Robotaxi
Autonomous navigation through sensor fusion and control systems
Overview
An autonomous vehicle project developed for the Teknofest 2024 Robotaxi competition, implementing sensor fusion and navigation systems.
Problem Statement
Autonomous vehicles require reliable navigation systems that can operate in complex urban environments, handling GPS uncertainty and dynamic obstacles.
Technical Approach
Built on ROS1 framework for modular development. Implemented sensor fusion combining GPS and IMU data for accurate positioning. Developed PID control algorithms for smooth vehicle motion and steering.
Key Features
- ROS1-based modular architecture
- GPS + IMU sensor fusion
- PID control for steering and velocity
- Waypoint navigation system
- Real-time obstacle detection
Challenges & Learnings
Achieving reliable navigation in GPS-degraded environments required robust sensor fusion algorithms. Tuning PID parameters for smooth autonomous driving was an iterative process.
Outcome
Competed in Teknofest 2024 Robotaxi competition, demonstrating autonomous navigation capabilities in a controlled environment.