Mobile Robot Control 2023 Group 3

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Group members:

Caption
Name student ID
Sjoerd van der Velden 1375229
Noortje Hagelaars 1367846
Merlijn van Duijn 1323385


Exercise 1 (Don't crash)

Watch the implementation video here: https://drive.google.com/file/d/1HEQ291tJWxiCRycf9JcPCIs-tHaA3roN/view?usp=share_link

Main idea: The robot drives forward until it detects an object within the specified range, then it stops. The range is declared as 45 degrees right and left from the center sight.

Exercise 2 (A* navigation)

The code for the A* algorithm is uploaded to the gitlab.

To optimize the A* algorithm, certain nodes could be discarded. These nodes have exactly 2 neighbors on two consecutive sides and thus are not an end to a path, a corner or a intersection of paths. Due to this, these nodes do not have any added information and thus can be discarded, resulting in nodes only on intersection, corners and end of paths, leaving the straight path between them as one step.


Exercise 3 (Corridor)

Implementation video here: https://1drv.ms/v/s!Ah8TJsKPiHVQgdpdH5tZMWa6fCyjDA?e=7TtBUS

Main idea:


Exercise 4 (Odometry data)

  • Keep track of our location:
  • Observe the behaviour in simulation:
  • Observe the behaviour in reality: