/robot_simulator

A simulator of an autonomous mobile robot using Extended Kalman Filter

Primary LanguagePythonBSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

robot_simulator

A simulator of an autonomous mobile robot which estimates its pose by using Extended Kalman Filter and calculates control input by using Dynamic Window Approach.

description

This program simulates an differential-drive wheeled autonomous robot like below:

  • the state of robot: (x, y, θ)
  • the control inputs: (v, ω) v=linear velocity, ω=angular velocity

robot.png

This robot equips a 360-degree camera, and it can observe the distance and angle to the marker on environments.

camera.png

simulation

circular route

This robot chases a target which moves on a circle.

  • target: black object and black line
  • actual trajectory: blue line
  • observed mark: green lines
  • estimated pose: red object
  • estimated trajectory: red line

circular_simulation.png

square route

This robot chases a target which moves on a square.

  • target: black object and black line
  • actual trajectory: blue line
  • observed mark: green lines
  • estimated pose: red object
  • estimated trajectory: red line

square_simulation.png

waypoints trace

This robot traces a given waypoints.

  • target: black object and black line
  • actual trajectory: blue line
  • observed mark: green lines
  • estimated pose: red object
  • estimated trajectory: red line

waypoints_simulation.png

how to use (on macOS Catalina)

  1. install tcl-tk

    brew install tcl-tk

  2. install python 3.9 with tcl-tk by pyenv

    env \
PATH="$(brew --prefix tcl-tk)/bin:$PATH" \
LDFLAGS="-L$(brew --prefix tcl-tk)/lib" \
CPPFLAGS="-I$(brew --prefix tcl-tk)/include" \
PKG_CONFIG_PATH="$(brew --prefix tcl-tk)/lib/pkgconfig" \
CFLAGS="-I$(brew --prefix tcl-tk)/include" \
PYTHON_CONFIGURE_OPTS="--with-tcltk-includes='-I$(brew --prefix tcl-tk)/include' --with-tcltk-libs='-L$(brew --prefix tcl-tk)/lib -ltcl8.6 -ltk8.6'" \
pyenv install 3.9.5

  3. install libraries

    pipenv install

  4. start plotter on terminal 1

    pipenv run plotter

  5. start agent on terminal 2 (circular or square)

    pipenv run circular_agnet

    or

    pipenv run square_agent

background

state-space model

pose estimation using EKF

local path planning

license

BSD 3-Clause License

copyright

Copyright (c) 2021, Nobuyuki Matsui