Navigation Project

A room-scale delivery-robot navigation system: an A* + Pure Pursuit motion simulator wired to a live order feed and a WebSocket control server.

What's here

• sim_base44_integration.py — the simulator. It plans routes with A* on a grid (configurable resolution, default 0.10 m per cell) and follows them with a Pure Pursuit controller. It pulls delivery orders from a Base44 app, maps each customer location onto a grid cell, and runs a full Home → restaurant → drop-off → Home loop — updating each order's status (in_transit, delivered) and posting the driven trajectory back to the app.
• websocket_server.py — a WebSocket bridge that reports robot status (battery, location, speed) and accepts navigation commands (NAVIGATE, QUICK_ROUTE, GET_STATUS) from a client app.

Run it

pip install requests matplotlib numpy websockets
# optional: pip install pyserial   # for a Bluetooth serial link

export BASE44_APP_ID=your_app_id
export BASE44_API_KEY=your_api_key

python sim_base44_integration.py   # the route simulator
python websocket_server.py         # the control server

Stack

Python · A* pathfinding · Pure Pursuit control · Base44 API · WebSockets · Matplotlib (trajectory animation)