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