This thesis presents the development of a mixed reality system with tracking
and navigation capabilities for a mobile robot integrated with Bluetooth Low
Energy (BLE) communication. First we establish BLE communication with a
Pololu 3pi+ robot, enabling seamless control and interaction. After we develop
a navigation controller, initially utilizing odometry and later enhanced with an
infrared (IR) measuring frame for superior accuracy. The measuring frame bol-
sters the robot’s spatial awareness, particularly in complex environments. This
advancement contributes to precise navigation in mixed reality scenarios. Com-
plementing this, we made a computer application, which empowers users to create
obstacle courses. The robot autonomously navigates these courses using the A*
pathfinding algorithm.
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