Index / Work / N° 07
Project N°07 of 24
CategoryRobotics · Control
Year2025

Autonomous Mobile Robot Sorting & Navigation

Engineered an autonomous control architecture within MATLAB’s and Simulink's Robotics Playground simulation environment to identify, sort, and relocate colored objects into designated zones using a differential drive mobile robot.

Key Engineering Contributions

  1. 01
    Stateflow Control Architecture: Developed modular, state-based decision logic using Simulink Stateflow to autonomously transition the robot between object search, approach, controlled pushing, obstacle avoidance, and return-to-origin behaviors.
  2. 02
    Sensor Integration & Odometry: Processed simulated feedback from forward-facing object color detectors, distance proximity sensors, and wheel odometry to dynamically adjust differential drive wheel commands.
  3. 03
    System Integration & Tuning: Integration and systematic testing of the Stateflow control framework, iteratively tuning the logic to successfully mitigate failure modes like oscillatory behavior, incomplete object placement, and unintended wall collisions.
  4. 04
    Robustness Validation: Validated the system's deterministic behavior across all six possible initial color-location permutations, proving reliable, collision-free task completion through extensive trajectory and orientation plotting.

Visual Documentation

Robotic Playground Arena setup and the Simulink Stateflow which autonomously tra (image 1 of 2)
Figure 1.1
01-1.png
Part 1 of 2
Robotic Playground Arena setup and the Simulink Stateflow which autonomously tra (image 2 of 2)
Figure 1.2
01-2.png
Part 2 of 2
Robotic Playground Arena setup and the Simulink Stateflow which autonomously transitions the robot between object search, approach, controlled pushing, obstacle avoidance, and return-to-origin behaviors.
Overhead XY plot of the robot’s path which validates the logic of the Stateflow
Figure 2
02.png
Overhead XY plot of the robot’s path which validates the logic of the Stateflow diagram. The plot demonstrates the mobile robot successfully sorting the objects and returning to the origin of the aren
Overhead XY plot of the robot’s path which validates the logic of the Stateflow diagram. The plot demonstrates the mobile robot successfully sorting the objects and returning to the origin of the arena.