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Project Report

A project report on implementing A* algorithm for path planning and autonomous navigation of a differential drive robot in a static environment using ROS-Noetic and SLAM for developing a map of the environment.

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theoriginalhybrid9
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70 views13 pages

Project Report

A project report on implementing A* algorithm for path planning and autonomous navigation of a differential drive robot in a static environment using ROS-Noetic and SLAM for developing a map of the environment.

Uploaded by

theoriginalhybrid9
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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minor project presentation

on
AUTONOMOUS NAVIGATION
USING WHEEL ODOMETRY
Presented by:

Mohd Farhan Haroon


B.Tech CSE 4th Yr
2000100298
02
About
Autonomous
Robots

Autonomous robots are revolutionizing the


way we interact with technology by operating
independently, without direct human control
or intervention.

PITCH DECK
PRESENTATION
03

What do we want to achieve?


Problem Statement

Designing an autonomous
navigation system using ROS
and TurtleBot3 to enable a
robot to navigate through a
dynamic environment.
04

Navigating in an unknown environment

What all do you need?


The most basic requirements for navigation are:

A map with scale


An Odometry source

BUT WHAT IS ODOMETRY?


ODOMETRY
The measurement of a robot's position
change about a given location using
motion sensors is known as Odometry.

Self-contained odometry methods are


categorized into five main types, i.e.,
wheel, inertial, laser, radar, and visual,
where such categorization is based on
the type of the sensor data being used
for the odometry.
05
HOW DO WE USE ODOMETRY?
06

Lets take an example


Consider a blind person on a wheelchair.

Now if that person knows the wheel radius of the


wheelchair, and somehow knows when the wheel makes
one complete rotation, he can move in the forward
direction (1-D) by the exact circumference of the wheel.

Similarly, when this logic is applied with a little


computational power, a further wider range of
calculated movements is possible like precise 2-D
movements.
WHAT IS ROS?
ROS stands for Robot Operating
System.

Odometry
It is basically a framework
implemented in multiple
Mapping
languages.

The basic functionality of ROS is


to provide a common ground for
all kinds of sensors data and
communications within a robot
therefore making a developer's
work easier.
IMU Teleoperation
OUR ROBOT
TURTLEBOT 3
The robot that we used is a differential drive (2-
wheeled robot) with in-built Odometry in wheels
and a 2-D LIDAR for mapping.
LIDAR stand for Light Detection and
Ranging. It works just likeGraphic
SONAR, just
LIDAR that in place of sound waves,
Designit uses
Expertise Expertise
light rays to calculate the distance and
when mounted on a rotational
platform can give a 2-D map.
07
Steps to achieve Autonomous Navigation
There are a few things we need to do before our
robot can Navigate on its own.
We use the LIDAR and the ROS Mapping algorithms to make
a 2-D map of the environment.

We convert that map to a 2-D matrix of 0s and 1s where


0 represent obstacles and 1 represents movable area.

Then we apply basic and efficient shortest path finding


algorithms like Dijkstra's and A* algorithm to plan out a path
from start to end position provided by us.

08
RESULT
Path generated.

The robot follows this path.


CHALLENGES ENCOUNTERED

Intelligent turning of
the Robot

Finding the best Path Scaling the map according


Planning Algorithms to the digital matrix
APPLICATIONS

Marine Autonomous
Navigation Driving

Extra-Terrestrial
Explorartion
THANK YOU!

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