Mobile Robot Control 2024 R2-D2
Introduction
This the wiki of the R2-D2 team for the course Mobile Robot Control of the Q4 in the year 2023-2024. The team is consisted from the following members.
Group members:
| Name | student ID |
|---|---|
| Yuri Copal | 1022432 |
| Yuhui Li | 1985337 |
| Wenyu Song | 1834665 |
| Aditya Ade | 1945580 |
| Isabelle Cecilia | 2011484 |
| Pavlos Theodosiadis | 2023857 |
Week 1 - The art of not crashing
Simulation
Pavlos
My idea was to use the LiDAR sensor to detect any objects directly on the front of the robot. Thus when the robot would move forward it would detect the distance from the object directly in the front of it and stop before reaching a predefined threshold. In the video the threshold was 0.5 meters. To detect the distance from the object exactly on the front I used the measurement in the middle of the ranges list in a laser scan message. I also created a function which takes as an argument a laser scan message and an angle in degrees and returns the distance measurement of the ray at that angle.
Video displaying the run on the simulation environment:
https://www.youtube.com/watch?v=MXB-z1hzYxE
Isabelle
I took the laser reading at the middle angle by taking the middle value of the reading range, together with the two readings before and after it. The robot moves forward by default and if these values go under 0.3m, it will stop.
Practical Session
Simulation
Dynamic Window Approach
We implemented the dynamic window approach algorithm based on the paper "The Dynamic Window Approach to Collision Avoidance". The tuning of the scoring function seemed to be not trivial since different values result in different behaviors. For example a lower factor for the values of the heading error together with a higher factor for the values of the clearance score result in more exploration of the space where the robot prefers to move towards the empty space instead of moving to the goal.
Video displaying the run on the simulation environment:
https://www.youtube.com/watch?v=v6rQc6_jtUE
Question for TAs: Can we plot somehow the trajectories in the RVIZ environment?