Hover-Cartpole (A cheap and practical platform designed for assisting the blind)

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This repo contains the codebase for an affordable, self-assembled wheeled robot designed to aid individuals with visual impairments while performing navigation tasks. The overall modules include:

Hardware Architecture

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The hardware architecture is depicted as below. The modules include:

• A dual-layer mobile robot chassis
• A hacked board with two BLDC motors for propulsion
• A 2D RPLidar for user's navigation assistance
• A guidance cane equipped with a button switch
• A Raspberry Pi serving as the master controller

Software Architecture

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