Team-Kerbecks-and-PS

Obstacle Avoidance and Goal To Goal Navigation using Coppeliasim(V-REP)

1. About the Project:

The project is a very basic version of the latest self-driven/ autonomous car technology. At the basic levels, simple obstacle avoidance and goal to goal navigation is achieved. Detecting the environment around it, the car takes necessary actions. Meanwhile, it orients itself in the direction of the target position after every turn or deviation.

i. Tech Stack:

Coppeliasim (V-REP)

Lua programming (regular API)
Model imported: Robotnik summit XL

ii. File Structure:

  ├── final.ttt                            #Final project file - model with three sensors
  ├── sensor5.ttt
  ├── rotate.ttt
  ├── Ccurve.ttt
  ├── ObstacleAvoidanceandNavigation.ttt   #Goal to goal navigation
  │  
  ├── ProjectCode.lua
  │ 
  ├── docs
  │   ├── Final_report.pdf                 # Project report  
  ├── ...
  ├── ImagesForGitHub
  │       ├── sensor5.png  
  │       ├── sensor3.png
  │       ├── sensor1.mp4
  │       ├── Ccurve.png
  │      
  ├── ...
  ├── LICENSE
  ├── README.md

2. Getting Started

i. Installation of Coppeliasim

installation in Windows

installation in Ubuntu

ii. Start:

Clone repository:

 git clone https://github.com/Git-Saurabh5/Team-Kerbecks-and-PS.git

Open the file final.ttt and Run it.

Download our project file

Run the program

3. Usage

Results and demo:

Various changes were made in the course of project regarding different number of sensors and their position. These are as follows:

• 3 sensors placed on the front side of the car: (as mentioned in the above file final.ttt)

• 3 sensors placed on the front side of the car, 2 on either side:

Download file OR open the file sensor5.ttt from cloned repository

• 1 sensor placed on a rotating platform placed at the front of the car (this rotating platform performs angular simple harmonic motion):

Download file OR open the file rotate.ttt from cloned repository

Based on all these observations we concluded that we would use 3 sensors in the front of the car.

We also tried making the car encounter a C curved obstacle.

Download file OR open file CcurveObstacle.ttt from cloned repository

For basic version of goal to goal navigation:

Download file OR open file ObstacleAvoidanceandNavigation.ttt from cloned repository

Check out the YouTube video for a demo of all these results

4.Troubleshooting:

  Sometimes while running the simulation, you may not get the desired result. In such cases, please try stopping and running the simulation once again. If the issue is not solved yet, then try closing the software and restart it.

5.Future Work:

• Study path planning 
• Objectives like pre-calculation of obstacle-free path, changing path according to static and dynamic objects,reaching and stopping at the correct position.
• Implementing the same on ROS platform with much more convenience 
• Studying libraries like OMPL

6.Contributors

•Sanika Gadge

•Parvathy Nair

•Saurabh Powar

7.Acknowledgements and Resources

• SRA VJTI Eklavya 2020

8.License

All rights as mentioned in License

Spnetic-5/Trooper-k