Autonomous Navigation Robot (Pololu Romi)

Developed a comprehensive autonomous navigation system for a Pololu Romi robot using Arduino C++ and subsumption architecture with multiple behavioral states.

Implemented real-time obstacle detection and avoidance using ultrasonic rangefinder sensors with configurable warning and danger distance thresholds for safe navigation.

Built a sophisticated state machine with three primary behaviors: random wandering for exploration, collision avoidance for obstacle detection, and proportional control for smooth obstacle navigation.

Created intelligent random movement algorithms using seeded random number generation for unpredictable exploration patterns with dynamic distance and turning angle calculations.

Integrated multi-color LED feedback system (RGB) to provide visual status indicators for different operational states and behaviors during autonomous operation.

Developed advanced line-following capabilities with PID control systems, IR remote control integration, and autonomous delivery navigation using intersection detection and dead reckoning.

Implemented complex navigation behaviors including pickup and delivery sequences, free-range searching algorithms, and mapping-based path planning for structured environments.