Robot Operating System (ROS) - 2023

Tasks:

1. Robot Movement

2. Perception with OpenCV

3. Mapping

4. Planning and Navigation

5. Avoiding Dynamic Obstacles

(Note: All images are accelerated for demonstration purposes)

1. Robot Movement

• Calibrate camera 

• Identify fiducial markers

• Park the robot at the designated location

2. Perception

• Use the camera and openCV to detect the red ball

• Trace the ball with a PID controller

3. Mapping

• Use laser scan to detect 360-degree angles

• Mapping strategy: move along one side of the wall

4. Planning and Navigation

• Process the global map and connect nodes (available pixels)

• Plan a proper path by using the A* algorithm

• Navigate the robot to the destinations

5. Avoiding Local Dynamic Obstacles

• Use camera and openCV to detect objects

• Use local movement to override global movement

Original Videos