Mobile Robot Control 2023 Group 5

Group members:

Caption

Name	student ID
Yuzhou Nie	1863428
Ronghui Li	1707183
Guglielmo Morselli	1959301

Navigation Assignment 1

• How could finding the shortest path through the maze using the A* algorithm be made more efficient by placing the nodes differently?Sketch the small maze with the proposed nodes and the connections between them.Why would this be more efficient?

By placing nodes at key points(junctions for example) could reduce the total number of nodes and simplify the graph, which lead to a less computational effort.

Navigation Assignment 2

• Description of the main idea

We choose to implement the Artificial Potential Field (APF) algorithm for obstacle avoidance in robot navigation. It uses laser scanner data to detect obstacles, calculates repulsive forces based on obstacle proximity, converts these forces into velocity commands, and sends these commands to the robot, enabling dynamic navigation.

• Screen recordings of the simulation results
• Video of the robot's performance in real life

https://tuenl-my.sharepoint.com/:v:/g/personal/r_li1_student_tue_nl/EfMXoIxWLJBPpgl8E2LfRTEB9AcTnkAUy7_B2xHfvAhClA?e=ssxpqS

Localisation Assignment 1

• Keep Track of our location

The program successfully reports the information in the odometry message of current time step and the difference between the previously received odometry message and the current message.

• Observe the Behaviour in Simulation
• Observe the Behaviour in Reality

Here attached the video of coco's performance in real life:

https://tuenl-my.sharepoint.com/:v:/g/personal/r_li1_student_tue_nl/EeYdQ1QRIkxHnmo_7Jb-dPoBBArsPv-tprebJcBOkD627A?e=GsT2wl