Implementation of global and local navigation on a Thymio.

Basics of Mobile Robotics (MICRO-452) project at EPFL using the Thymio robot.

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• Robust map creation and feature localisation using ArUco markers
• Global path computation with A* algorithm on grided map
• Path simplification
• Automatic port detection and connection to the Thymio
• Path following and dynamic regulation
• Thymio and objective kidnapping detection
• Map recomputation in case of kidnapping situations
• Kalman filter for navigation without measurements from the camera
• Local avoidance using potential field

• serial
• numpy
• matplotlib
• rdp
• opencv-contrib-python
• Thymio