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Yep.. I have developed this project for my thesis degree and had really few time for everything.. I ended up doing a what is known as dead reckoning localization.. simply based on the measurements gathered from the magnetic encoders on the wheels.In addition I have built an occupancy grid map from the outputs gathered from the IR sensors and based on that I am doing the path planning.. Works fine for the first prototype.. I am going to do an update on the Instructable as well, but unfortunately I still have to present the whole project and finish with uni.. Thanks for the shown interest!
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