Kalman Robot

A robot that can be taught to navigate a finite space using a Kalman filter. The filter needs to position it in the X,Y axis as well as the X,Y rotation, so 3 dimensions.

Inputs

• Wheel Encoders
• GPS
• Tilt angle (for uneven ground)
• Wifi signal strength
• Sonar module

The design will be a tread based robot. The body can be 3D printed. The case will need to be water proof.

The main board will be something like a RasPi. GPIO used to drive the two stepper motors. LiPo batteries. There will be a mating charge station.

Kalman Filter

I'm not sure how represent probabilities for this. I could use a discrete filter.