Mobile Robot Control 2024 R2-D2
Introduction
This the wiki of the R2-D2 team for the course Mobile Robot Control of the Q4 in the year 2023-2024. The team is consisted from the following members.
Group members:
| Name | student ID |
|---|---|
| Yuri Copal | 1022432 |
| Yuhui Li | 1985337 |
| Wenyu Song | 1834665 |
| Aditya Ade | 1945580 |
| Isabelle Cecilia | 2011484 |
| Pavlos Theodosiadis | 2023857 |
Week 1
Exercise - The art of not crashing
Pavlos
My idea was to use the LiDAR sensor to detect any objects directly on the front of the robot. Thus when the robot would move forward it would detect the distance from the object directly in the front of it and stop before reaching a predefined threshold. In the video the threshold was 0.5 meters. To detect the distance from the object exactly on the front I used the measurement in the middle of the ranges list in a laser scan message. I also created a function which takes as an argument a laser scan message and an angle in degrees and returns the distance measurement of the ray at that angle.
Video displaying the run on the simulation environment:
https://www.youtube.com/watch?v=MXB-z1hzYxE