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Project 2
(10 points) Requirements and Design Definitions:
R1 - The turtle bot shall use LIDAR to navigate through a maze, from start to end.
D1 - Shall scan surroundings using LIDAR.
D2 - Shall move forward toward the furthest object it sees within a 180-degree view.
Trace Matrix 1:
R1, D1
R1, D2
Trace Matrix 2:
D1, main.py
D2, moveturtle.py, maze_navigator.py
In order to develop this project, we began with setting up the turtle bot and getting it running. After linking the bot to the remote laptop we were able to create a maze for our turtle bot to map out. By creating two "L" shaped walls we knew we would be able to create a plethora of combinations for our bot to move through. Once the maps were saved we began our code to make the bot travel on its own through the maze. We decided on the logic behind our code to be that the robot uses LIDAR to look only in front of it and move toward the furthest object and then turn to find the next.
Once we implemented our code, we were able to test it with the simulator in Gazebo and eventually feel confident enough to use the real bots. In order to test our turtle bot sufficiently, we created multiple mazes to test how the bot maneuvered through different scenarios. Changing the environment helps our code be more robustly tested and identify errors. We found at times the robot did not move enough past the walls and would get stuck, or it would move too far past and miss the turn. We had to adjust our code to move forward for a set amount of time after detecting the wall. This worked well to get our bot to maneuver through different types of mazes.
Link to Youtube video of final project results. Link to Demo Video