SLAM differential drive robot from scratch

ROS; Kinematics; EKF-SLAM; C++

This is the homework for ME495_Sensing, Navigation and Machine Learning for Robotics at Northwestern University. Throughout the project, I created several ros packages and libraries for kinematics of differential drive robot control, EKF-SLAM, circle detection and data association using C++.

Robot Kinematics

For more details: click here to go to github repository