Mobile Robot Control 2023 Group 6: Difference between revisions
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Both tests were successful, as can be seen in the videos. Next to that, we noted that the robot also stops when confronted with smaller object than a big box, like a single human leg. | Both tests were successful, as can be seen in the videos. Next to that, we noted that the robot also stops when confronted with smaller object than a big box, like a single human leg. | ||
The final video of the rosbot not crashing can be found here: https://tuenl-my.sharepoint.com/:v:/g/personal/a_h_d_pauw_student_tue_nl/EYhKaW_zeu5Jo1Jdxsm22J4BHX9xfxyHwInA22WbUBwDhQ?e=1amYTU | |||
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The final video of the hero robot navigating can be found here: https://tuenl-my.sharepoint.com/:v:/g/personal/a_h_d_pauw_student_tue_nl/ | The final video of the hero robot navigating can be found here: https://tuenl-my.sharepoint.com/:v:/g/personal/a_h_d_pauw_student_tue_nl/ETomJyr9VBpJhzhW5_v6GaUBnpDclHuzAsFZNdebVRyjjQ?e=et9oCv | ||
Revision as of 20:33, 5 June 2023
Group members:
| Name | student ID |
|---|---|
| Xingyi Li | 1820443 |
| Alexander De Pauw | 1877267 |
| Timo van Gerwen | 1321854 |
Exercise 1: The art of not crashing
Before performing tests with the robot, being BOBO, the laser data of the robot is looked at. First of all, some noise can be seen on the laser data as visualized by rviz. Especially objects further away, with the range of the lasers being a couple of meters. Objects that can be seen by the robot are solid objects around 10cm from the ground up. Objects that are either higher or lower are not in the range of the lasers. Black objects as well as glass objects are hard to observe due to light absorbance and light refraction respectively instead of reflection. Human legs can also be observed. The robot sees just above the ankles from one side, therefore it sees legs as half circles.
Simulation
Code is written in dont_crash.ccp to have the robot move forward until it detects a wall closely in front of itself. To make sure the robot only stops when a wall is in front of the robot, only the laser data within 30 degrees to both the left and the right of the robot are considered. The dont_crash file can be found in exercise1/src/dont_crash.ccp. Note that this code has an extra step because of which the robot will stop and turn until the path forward is clear again instead of simply stop.
Testing
The first test was to see whether the robot would stop if a box is placed head on in front of the robot. The robot would have to drive forward for about three meters and when close to the wall, it should stop. The second test was to see whether the robot would keep driving when a box is placed in parallel to the path of the robot. The box does not block the robot and should keep driving forward as only specific range of laser data is considered in the code.
Both tests were successful, as can be seen in the videos. Next to that, we noted that the robot also stops when confronted with smaller object than a big box, like a single human leg.
The final video of the rosbot not crashing can be found here: https://tuenl-my.sharepoint.com/:v:/g/personal/a_h_d_pauw_student_tue_nl/EYhKaW_zeu5Jo1Jdxsm22J4BHX9xfxyHwInA22WbUBwDhQ?e=1amYTU
Assignment 1: A-star
The final video of the hero robot navigating can be found here: https://tuenl-my.sharepoint.com/:v:/g/personal/a_h_d_pauw_student_tue_nl/ETomJyr9VBpJhzhW5_v6GaUBnpDclHuzAsFZNdebVRyjjQ?e=et9oCv