Pixelate

An Autonomous Bot Based On Image processing And A-Star Path Finding Algorithm

This project is based on the instructions given in the following Problem Statement.

Installation Guidelines

Along with this repository, it is needed to have the following repositories:

1. Pixelate_Sample_Arena
2. Pixelate_Main_Arena

Follow the steps given in these repositories and install the packages required.

You can then either run the code directly on the visual studio using Pixelate.sln or can run Pixelate.py.

Approach

1. The arena was converted into a 2D matrix using image processing techniques where a particular node number denoted each square of the arena
2. A-Star Path Finding Algorithm was used to determine the shortest path to the destination node; here, we used manhattan distance as the heuristic measure
3. Movement through one-ways was considered by disconnecting it from the graph whenever required
4. We used the differential drive to run the bot more efficiently

Features

1. Visual representation of the arena and the bot movements were done using PyBullet
2. Image processing techniques were used to manipulate the data, i.e., shape, colour and aruco marker detection in the programmable form
3. A-Star Path Finding Algorithm determined the shortest path to reach the destination node
4. The program also supports manual override to run the bot

References

1. Run-on Pixelate_Sample_Arena
2. Run-on Pixelate_Main_Arena