Projects from Algorithmic Robotics

Spring 2019 - Professor Trinkle

// Video coming soon //

Learned algorithms and techniques used in the field of mobile robotics for perception, planning, and control. The topics include: representation of position and orientation, trajectory generation, ROS (Robot Operating System), motion control, obstacle avoidance, the “bug” algorithms, simultaneous localization and mapping (SLAM), and basic motion planning.

Course webpage

Programming Assignments

• "pa" = Programming Assignment
• Each folder has a PDF explaining assignment
• *indicates assignment is shown in video
• **Indicates to use keyboard to control robot manually: rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=robot0/input_vel

folder	assignment summary	how to run
pa4	Autonomous search and rescue using SLAM, motion planning algorithms	*Part 1: localization using dead reckoning, Kalman filters. Static and dynamic occupancy grids. roslaunch pa4_student section_1_demo_1.launch (noiseless) roslaunch pa4_student section_1_demo_2.launch (with noisy controls and lidar)
		*Part 2: Motion planning using Probabalistic Roadmap method, Dijkstra's algorithm roslaunch pa4_student navigation.launch map:=<simple_rooms, hospital_section, sparse_obstacles> x:=<start x location> y:=<start y location> theta:=<start theta>
		*Part 3: Search and Rescue (combine localization and motion planning to find victims in a disaster) roslaunch pa4_student search_rescue_task1.launch roslaunch pa4_student search_rescue_task2.launch roslaunch pa4_student search_rescue_demo.launch
pa3	occupancy grid construction w/ Bresenham's line algorithm, Gaussian noise, pose-to-pose control	Part 1: Pose-to-Pose motion control roslaunch pa3_student turtlejectory.launch Optional: add noise to with argument use_noise:=true
		*Part 2: Creating occupancy grid roslaunch pa3_student r2d2_mapping.launch Optional: add noise to with argument use_noise:=true
pa2	bike model and diff drive	roslaunch pa2_student turtlejectory.launch
pa1	Intro to ROS	roscore rosrun turtlesim turtlesim_node python pubvel.py
pa0	RoboRally - code up the board game RoboRally	Python only (no ROS or GUI) python roborally_test.py python roborally_test_2.py