Mobile Robot Control 2024 Ultron:Final Report

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(Group deadline: 21:00 28 June)

Introduction

High-Level System Description

(Yidan)

System Architecture

State Flow

(Liz)

Data Flow

(Liz)

System components

Initialization

(Lu)

Localization

(Aori)

Global Navigation

(Yidan, Hao)

Local Navigation

Dynamic Window Approach

Reasons for choosing DWA

Algorithm Description

Implementation in C++

Parameter Tuning

Simulation Results

Test on Hero

Interaction

(Lu)

Final Challenge Results

Results Analysis

(Hao)

Future Improvement

(Nan)