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Project Description

The goals we established at the beginning of the project are:

  • Employing turtlebot in a series of environments, each with varying obstacle start and goal configurations without any modifications to the code base

  • Ability to plan motion to goal state (may not be most efficient path)

  • Ability to avoid obstacles in real time, (may take longer to get to the goal)

  • Ability to avoid total collisions at the expense of speed

  • Ability to reach the goal state

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In order to achieve those goals we needed to separate our project into two big sections (software and hardware) and then created subtasks for each section:

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Software 

  • Sensing 

    • Course map generation

    • Target detection and coordinate retrieval 

    • Robot tracking and coordinates retrieval (i.e object detection, AR tag) 

    • Odometry recommendation generation

  • Planning 

    • Lidar object detection 

    • RRT path planning implementation

    • RRT and lidar map fusion for optimal path selection  

  • Actuation 

    • Robot actuation implementation from generated graphs 

Hardware 

  • Camera Rig

    • To support camera on elevated view on obstacle course 

  • Obstacle course 

    • Obstacles design 

      • Appropriate height to enable detection by turtlebot lidar 

    • White base 

      • Base with enough contrast to obstacles 

    • Enclosure 

      • Delimiter of obstacle course boundary

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