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
• Accelerometer
• 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

The filter needs to be trainable so that it can learn about it's environment.

A good upgrade would be the ability to look for measurements that are no longer accurate and update them.