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TOFU: Tracking Omnidirectional Field Unit

This repo contains the software for both the Raspberry Pi (perception + planning) and Teensy 4.1 (control) parts of the autonomy stack.


Perception

Simple vision-based perception that uses fiducial tags for localization and object detection. Runs on RasPi. Input: Sequence of camera images Output: Robot position estimate & occupancy grid


Planning

Grid search from current position to goal using A*. Runs on RasPi. Input: Occupancy grid Output: Sequence of waypoints for the robot to follow


Control

Ensure path computed by planning is following by robot. Commands sent from RasPi to Teensy. Teensy drives motors. Input: Waypoints Output: Motor commands

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