4-wheel swerve holonomic drive framework with integrated kinematics, dynamics, and continuous potential-based obstacle avoidance.

Project Overview

I designed and simulated a complete 4-wheel swerve holonomic drive framework. The simulator features integrated kinematics, dynamics, and a dedicated simulation environment.

Technical Details

• Control Stack: Utilizes a cascade adaptive+PID controller.
• Pathing & Navigation: Features pure pursuit path tracking and A* based path planning operating over a procedurally generated obstacle maze.
• Obstacle Avoidance: Implements dynamic obstacle avoidance utilizing continuous potential based obstacles.