https://github.com/mikel-brostrom/map_maker
Map maker achitecture for a Robosoft Kompai robot placed in the simulated factory environment of MRDS
https://github.com/mikel-brostrom/map_maker
deliberative-agent map-maker mrds reactive-agent robosoft-kompai robot simulation-environment
Last synced: 4 months ago
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Map maker achitecture for a Robosoft Kompai robot placed in the simulated factory environment of MRDS
- Host: GitHub
- URL: https://github.com/mikel-brostrom/map_maker
- Owner: mikel-brostrom
- Created: 2018-11-27T15:41:50.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2020-02-27T12:34:01.000Z (over 5 years ago)
- Last Synced: 2024-12-29T15:44:24.783Z (5 months ago)
- Topics: deliberative-agent, map-maker, mrds, reactive-agent, robosoft-kompai, robot, simulation-environment
- Language: Python
- Homepage:
- Size: 956 KB
- Stars: 2
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Map Maker
## Introduction
Exploration of an unknown environment is a fundamental problem in the field of
autonomous mobile robotics. It deals with the task of examining the environment with
sensors while creating a map with its collected data. Conventionally, humans map the
environment beforehand in order to use theresult in a vehicle for subsequent navigation.
However, exploration has the potential to remove humans from the loop of generating a
map of an unknown environment. This has many applications such as robot deployment in
areas where pre-mapping is not possible, space robotics, etc..
## Goal
The main goal of this project is to design a robot control software for a Robosoft
Kompai robot in the simulated factory environment MRDS with a hybrid deliberative/reactive
architecture,allowing the robot to navigate the environment while constructing a map of it.
## Run instructons
1. Launch a simulation environment in MRDS
2. cd to the directory where the source files are contained
```bash
python3 main_test.py
```
## Results
The exploration area was limited in order to avoid small areas, this is because the resolution of the world
was not enough to traverse it without bumping into objects; doubling the resolution resulted in deliberation times in the
order of a minute. The chosen resolution lead to a good trade-off.
