Building YUVAAN: From Kinematic CAD Models to Field Traversal

# The YUVAAN Journey Every robotics society needs a flagship challenge that pushes every engineering discipline to its limits. For Kalam Robotics Society at IILM University, that challenge is **YUVAAN**. ## Suspension & Mechanical Rigor Conventional four-wheel rigid chassis designs suffer from wheel lifting and loss of traction on uneven terrain. To maintain continuous ground contact and equal load distribution, our mechanical team designed a custom articulated rocker suspension using aircraft-grade aluminum. ## Sensor Fusion & Perception Perception in outdoor sunlight presents significant challenges for traditional infrared and ultrasonic sensors. YUVAAN utilizes stereoscopic depth cameras paired with an inertial measurement unit (IMU). Using an Extended Kalman Filter (EKF), the onboard system fuses wheel odometry with visual odometry to provide a robust state estimate for autonomous navigation.