This week, I focused on two main issues: deciding on which omni-wheel chassis to use and narrowing my research on how to extract position from IMUs. For the omni wheel decision, Luca and I met with Professor Mukherjee and eventually decided on a 4 wheel chassis from Moebius. I’m currently focusing on finding stock libraries for extracting position out of IMUs in case I am unable to perform the operations myself. I know I’ll need to use specific matrix operations in conjunction with Kalman filters and I’m confident that I can reach a reasonable implementation. However, I would like to have something to fall back on. Another thing I’ve been working on is finding a way to have the IMUs seamlessly communicate to the Particle Photon WiFi transmitter. I found a library to help me do so and I plan on testing it out as soon as parts arrive.
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