/ENPM661_Project3_Phase2

Primary LanguageMakefile

ENPM661 Project 3 Phase 2| A* Algorithm for a mobile robot with non-holonomic constraints, and Gazebo simulation.

Kshitij Aggarwal

119211618

kshitij2

Github repository link: https://github.com/KshitijAggarwal8/ENPM661_Project3_Phase2/tree/master

Part 1 (A* for non-holonomic):

The main executable is a_star_kshitij.py

User Inputs:

  • Obstacle Clearance
  • Start point x coordinate (scaled down by 10)
  • Start point y coordinate (scaled down by 10)
  • Start point orientation
  • Goal point x coordinate (scaled down by 10)
  • Goal point y coordinate (scaled down by 10)
  • RPM 1
  • RPM 2

Output Video:

The video was recorded for the following inputs:

  • Start Point: (100, 100)

  • Start orientation: 0

  • Goal Point: (575, 100)

Video Link: https://drive.google.com/file/d/1W8FrZXbmIDdbaTkXmuIJ2TEy48e_7T7x/view?usp=sharing

Libraries used:

  • numpy
  • math
  • heapq
  • time
  • cv2
  • matplotlib

Part 2 (Gazebo Simulation):

How to run:

  1. Navigate to the workspace project3_ws, and source the underlay.
  2. export the turtlebot model: export TURTLEBOT3_MODEL-waffle
  3. Launch the competition arena: ros2 launch turtlebot3_project3 competition_world.launch.py
  4. Open another terminal, source the underlay, and run the A star node: ros2 run turtlebot3_project3 astar_node.py
  5. After initialising the inputs, the algorithm will calculate the optimal path and display it in a separate window. Close this window to initiate the Robot's navigation.

User Inputs:

  • Clearance (in m) (suggested clearance between 1.5-2.0)
  • RPM 1 (suggested values - 1,2)
  • RPM 2 (suggested values - 1,2)
  • Start point x (in m)
  • Start point y (in m)
  • Start Orientation
  • Goal point x (in m)
  • Goal point y (in m)

Output Video:

The video has been recored for the following input values:

Enter the clearance 0.2

Enter RPM1:1

Enter RPM2:2

Enter start point x coordinate (in metres): 0.5

Enter start point y coordinate (in metres): 1

Enter start orientation in degrees: 0

Enter goal point x coordinate (in metres): 5.75

Enter goal point y coordinate (in metres): 1

Video Link: https://drive.google.com/file/d/1zPUFRwBRJZqdP_vu8PJEW0X8y5Kw2ZH0/view?usp=sharing

Note:

  1. The program does not do well with greater RPM values (suggested values - 1,2)
  2. All the dimensions have been kept in metres for consistency
  3. Robot might collide at times for a low clearance (suggested clearance between 1.5-2.0)

Libraries used:

  • numpy
  • math
  • heapq
  • time
  • rclpy
  • geometry_msgs
  • sys