/botLab

Project for ROB 550. Implementing SLAM using LIDAR, wheel encoders and IMU on MBot.

Primary LanguageC

Slam and Path Planning implementation on MBot

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A project for ROB 550: Robotics Systems Lab course taught in University of Michigan, Ann Arbor. Due to the COVID-19 pandemic this project was migrated to an online project. An overview of this project:

  • Acting

    • Planar kinematics of a differential-drive ground robot
    • Motion models with uncertainty

  • Perception

    • Quadrature Encoders
    • MEMS Inertial Measurement Unit
    • 2D LIDAR Rangefinders

  • Reasoning

    • Monte Carlo Localization
    • Simultaneous Localization and Mapping
    • A* search
    • Path planning

Running the code

log_mbot_sensors.sh

  • a script to log the sensor data needed for SLAM so you can easily create your own log files for testing

setenv.sh

  • a script for setting environment variables needed for running Vx applications
  • run this script before running botgui in a terminal on your laptop
  • run via . setenv.sh -- note the space

  1. Mapping

    • lcm-logplayer-gui <log_file.log> and uncheck all SLAM channels but SLAM_POSE
    • ./botgui
    • ./slam --mapping-only

  2. Action Model

    • lcm-logplayer-gui <log_file.log> and uncheck all SLAM channels
    • ./botgui
    • ./slam --action-only

  3. Sensor Model

    • lcm-logplayer-gui <log_file.log> and uncheck all SLAM channels
    • ./botgui
    • ./slam --localization-only <map_file.map>

  4. Full SLAM

    • lcm-logplayer-gui <log_file.log> and uncheck all SLAM channels
    • ./botgui
    • ./slam

  5. Obstacle Distance Grid

    • lcm-logplayer-gui <log_file.log> and uncheck all SLAM channels
    • ./botgui
    • View the generated obstacle distance grid by ticking “Show Obstacle Distances” in botgui

  6. A* Algorithm

    • cd <path_to_dir>/src/sim
    • python3 sim.py <map_file.map>
    • ./timesync
    • ./botgui
    • ./motion_controller
    • ./slam --localization-only <map_file.map>
    • Right-click on the botgui to drive the robot to that location

  7. Frontier exploration

    • cd <path_to_dir>/src/sim
    • python3 sim.py <map_file.map>
    • ./timesync
    • ./botgui
    • ./motion_controller
    • ./slam
    • ./exploration

Check the final report for detailed explanation and results.

Directories

bin/

  • where all built binaries are located

data/

  • where data needed to run parts of the assignment are located
  • log files and target files for SLAM and exploration are here

lcmtypes/

  • where the .lcm type definitions are located
  • the generated types are stored in src/lcmtypes

lib/

  • where static libraries are saved during the build process

src/

  • where all source code for botlab is located
  • subdirectories have a further description of their contents