Eklavya 4.0 was team AGV’s & IIT Kharagpur’s official entrant for the International Ground Vehicle Competition 2015 held at Oakland University, Michigan. The robot basically was a front steer, front drive autonomous car that could follow lanes, follow GPS waypoints, keep track of its own position and avoid obstacles all at the same time.
The controls work of the robot was not very unique to say, but since it was a departure from the regular differential drive models that most self driving robots use today, so it was a challenge nonetheless and it was tackled by none other than the author himself, not alone of course!
Here I am sharing the documentation, also written by me that describes the entire architecture of the control systems of the bot.
Thanks a lot for stopping by!