sManohar201/Autonomous-Mobile-Robotics

Autonomous mobile robotics algorithms.

Python

Autonomous-Mobile-Robotics

This repository contains from the scratch ROS implementation of robot autonomy algorithms.

System requirements

Ubuntu 20.04 LTS
ROS Noetic

Installation steps

sudo apt-get install ros-noetic-hector*
git clone git@github.com:sManohar201/Autonomous-Mobile-Robotics.git
cd Autonomous-Mobile-Robotics
catkin_make or catkin build
source devel/setup.bash

List of topics covered in the course

Perception
Sensor Fusion
Localization
Simultaneous Localization and Mapping
Path Planning

TODO: Perception

combine front and rear laser into a single source of laser data.
feature extraction algorithm, line, blobs, and corners for now.
data association for slam and localization.
Observation model

TODO: Sensor Fusion

base template for sensor fusion
Implement EKF
Implement UKF
Compare performance between sensor fusion package and robot_pose_ekf package
odometry to trajcetory package to compare how odom estimates drift from true state values.

TODO: Localization

Iterative closest point (should I move this to perception)
Kalman filters with iterative solution.
Monte Carlo Localization.

TODO: SLAM

Occupancy grid mapping (half done improve bresenham rasterisation algorithm)
EKF slam with unknown correspondencies.

TODO: Path Planning