Differential Drive Robot

The objective of this lab was to guide the robot to the green circle with the information recieved from GPS and lidar sensors.

The lab is simulated in Webots which allows for full control of robot design and control as well as custom global physics and real time manipulation of the simulation.

The controller was written in python and utilized differential drive kinematics to translate the information recieved from the sensors to individual wheel speeds to send to each motor. The code utilizes the Webots controller library in order to communicate with the program.