Welcome to B.OB

B.OB is a differential drive robot which is controlled using ROS2 Humble running on a Raspberry Pi 4. More details can be found in the Wiki.

Current status

B.OB currently has 2 driving modes, Basic and Assisted.

• Basic Driving is teleoperation via a controller using no extra sensors.

• Assisted Driving uses sensors to enhance the capabilities of bob such as:

  • Mapping with SLAM using Lidar

  

  • Lateral controller using the IMU

  

  • Localization by fusing the IMU sensor and wheel encoders via an Extended Kalman Filter(EKF).

  

Next Goal

Autonomous driving is the next goal for B.ob.

Note: This video is done purely in simulation