Project-Algernon

CSCI 3302 Final Project

What is Project Algernon?

Project Algernon is a three-step robot that maps, path plans, and traverses a pre-made map in WeBots.

Built With

• Python
• WeBots Application Environment
• Thiago Robot - [Within WeBots Environment]
• Lidar Camera - [Within WeBots Environment]

Flow of Project

Step 1: Mapping

Initially, the user of the project controls and guides the robot around the maze so that the robot can utilize the Lidar camera and map the walls and paths.

Inital Map Made

Normalized Map

Step 2: Path Planning

Then, utilizing the A* search algorithm, the robot searches and find the optimal path to the goal.

Mapped Path

Step 3: Traverse

Finally, utilizing inverse kinematics the robot traverses the maze while simuletransely adjusting its movements to avoid the walls and take the proper turns.

Author

Josef May