Skip to content
forked from robmendieta/AMR

Autonomous Mobile Robots assignments

Notifications You must be signed in to change notification settings

divindevaiah/AMR

 
 

Repository files navigation

AMR

Autonomous Mobile Robots assignments repository

Assignment description

Braitenberg vehicle implementation

  • Robot with reactive behavior.

  • Package: amr_braitenberg

  • File: src/braitenberg_vehicle.py

Motion controller

  • Velocity control for an omnidirectional robot's linear and angular speeds.

  • Package: amr_navigation

  • File: nodes/motion_controller.py

Wallfollower

  • SMACH implementation of a wallfollowing robot

  • Package: amr_bugs

  • File: src/amr_bugs/wallfollower_state_machine.py

"Bug2" algorithm for obstacle avoidance

  • Package: amr_bugs

  • File: src/amr_bugs/bug_brain.py

Path executor

  • Move to a series of poses, one at a time. Additionally, determine if any pose would be unreachable and allow preemption.

  • Package: amr_navigation

  • File: nodes/path_executor.py

Sonar mapper

  • Probabilistic egocentric robot mapping

  • Package: amr_mapping

  • File: src/amr_mapping/sonar_map.py

Pose likelihood

  • Estimate a robot's pose given laser sensor readings, used for particle filter.

  • Package: amr_localization

  • File: nodes/pose_likelihood_server.py

Particle filter for robot localization

  • Package: amr_localization

  • File: src/amr_localization/motion_model.py, src/amr_localization/particle_filter.py

Path planner

  • “Randomized Roadmap Planner” algorithm.

  • Package: amr_navigation

  • File: src/amr_navigation/randomized_roadmap_planner.py

About

Autonomous Mobile Robots assignments

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages

  • Python 50.6%
  • C++ 42.5%
  • CMake 5.5%
  • Other 1.4%