Autonomous Bot

Introduction

• The goal of this project is to move a robot around a flat area containing obstacles and narrow corridors. The robot must reach three waypoints, in order, and within 0.1i m (i = 1,2,3) of them, within 90s.

This program is developed using ROS2 Humble

Running

Running in simulation mode:

1. Open params.sh, find and set EE4308_TASK to

export EE408_TASK=proj1sim

2. Build the program by running

. bd.sh

3. Run the program with

. run.sh

Running in hardware mode:

1. SSH from remote PC to turtlebot

ssh ubuntu@<TURTLEIP>

2. Turtle Bringup. Prepare the robot in a stationary position, and bring up the robot's sensors and peripherals using:

. robot.sh

wait for 5s to 10s, you will see two Run! on the output when completed.

3. Open params.sh in. Find and set the EE4308_TASK to

expore EE4308_TASK=proj1sim

4. Build your code

. bd.sh

5. Run your code

. run.sh

Summary

Task: Estimation Task:

The program uses Odometry Motion Model and fuse it with the Inertial Measurement Unit (IMU) via weighted average.

Task: Planner Task :

The program utilizes A* Algorithm to obtain the path towards the next waypoint.

Task: Smoother Task :

The program utilizes cubic hermite splines to smoothens the path.

Task: Controller Task :

The program implemented a pure pursuit path tracking algorithm. From the path found by the global planner, a lookahead point ahead of the closest point along the path is found. The robot subsequently moves in a circular trajectory towards the lookahead point.