Overview

The project focuses on using the Particle Swarm Optimization (PSO) algorithm, to solve the Traveling Salesman Problem (TSP). The generated best route is then used as a trajectory for a quadrotor to explore the given environment.

The motivation behind this project is to show that exhaustive …

Demo Video

This project involved generating a trajectory for the end effector of the the YouBot mobile manipulator, performing odometry to keep track of the chassis as it moved, and perform feedback control to drive the robot to pick and place a block at a desired location.