Wheelphone Square Motion

This application shows various levels of navigation in an indoor environment with the Wheelphone robot. The application let the Wheelphone perform a square path and select which type of information to use to accomplish this task, starting from open-loop motion and then integrating phone sensors and odometry information from the robot to improve the accuracy. This let the user compare the results of the various methods.
For more information and source code refer to the page http://www.gctronic.com/doc/index.php/IPhone_software#iWheel_semester_project.