Mobile Robot Control 2023 Ultron
Group members:
| Name | student ID |
|---|---|
| Sarthak Shirke | 1658581 |
| Idan Grady | 1912976 |
| Ram Balaji Ramachandran | 1896067 |
| Anagha Nadig | 1830961 |
| Dharshan Bashkaran Latha | 1868950 |
| Nisha Grace Joy | 1810502 |
Design Presentation Link
Introduction
This page contains the details of the Restaurant Challenge in which the team was tasked with safely navigating an autonomous robot (in this case the robot was HERO) through a makeshift restaurant and delivering orders to tables whose sequence was predetermined.
A brief description of the challenge, its rules and ultimate goal is mentioned first so as to give an understanding of the various requirements that have to be met in order to complete it. These requirements were divided into three categories: Stakeholder requirements, Border requirements and System Requirements.
Stakeholder (or environmental) requirements of the challenge are:
- Safety - The robot should be able to avoid obstacles and humans without bumping into them
- Time - The robot should take minimal time to complete all deliveries
- Intimate the customer - The robot should announce that it has arrived at the respective table
The border requirements are derived from the stakeholder requirements and encompass the different strategies and considerations taken by the team to cater to each of the overarching stakeholder requirements. The system requirements/specifications give the constraints of the robot and the environment in which it is operated. These were taken into account when trying to implement the border requirements.
The next segment describes the system design incorporated by the team in order to complete the challenge. Initial data and state flow diagrams were created and used as reference to form a structure to work with. These were then modified and updated as necessary. This segment also contains a detailed description of the methods or algorithms used to achieve the different requirements.
The challenge and deliverables
The basic map for the challenge contains the tables and their numbers correspondingly, walls and doors. During the challenge, the robot starts at an area of 1x1 meters in an arbitrary orientation. The robot then has to make its way to each of the tables, orient itself and announce that it has arrived at the respective table before moving to the next table in the sequence. To make things more challenging, a few unknown static and dynamic obstacles were also added to the map. The presence of these obstacles is not known to the robot prior to the commencement of the challenge. And it has to safely navigate around the obstacles without bumping into any of them.
Game plan and approach
Milestones and achievements
Simulator vs Real world
Discussion and future scope
//On what we saw and why
Conclusion