Mobile Robot Control 2023 Group 13
Group members:
| Name | student ID |
|---|---|
| Xander de Rijk | 1364618 |
| Stern Eichperger | 1281232 |
For this assignment we went with an open space approach. At first the gradient was taken of the laser data. Currently it has not been used for further implementation to improve finding a better open space. As it could then be used to detect walls, update the range of the open space and set a boundary of where the robot cannot drive close to. The laser data is updated to match the maximum set range of the open space afterwhich the distance is summed in a subset of angles. The center laser point which has the largest sum of that subset is used to determine the direction the robot drives to. For the navigation there are two states, either driving or rotating. A further implementation would be that it also looks for a better open space during driving instead of waiting for a state to finish.