GoogleCSR Autonomous Robotics Project Spring 2001

Autonomous Robot Exploration

Faculty Mentor: Damian Lyons (Fordham)

Description

Autonomous vehicles and robots are increasingly visible in magazines and news stories. It seems inevitable that they will soon be a major commercial technology. The objective of this project is to use the open-source ROS mapping and navigation stack and devise a way for a mobile robot to quickly and automatically learn the physical map for a house so that it is prepared to carry out domestic activities.

Participant Background

This project is appropriate for participants who have a background in computer science, especially Linux and Python programming. ROS is an open-source framework for building robot programs that runs under Linux, and Python is one of the easier languages in which to program ROS nodes. Experience cloning and ‘make’ing software from github would be a big help.

Objectives and Learning Goals

The participants in this project will achieve the following:

• Gain a basic understanding robot programming.
• Learn about ROS – one of the principal tools for programming robots.
• Exposure to widely used techniques and algorithms for mapping and for robot navigation.
• Experience writing ROS nodes and evaluating robot behavior.

Important Links

ROS Wiki: <a data-saferedirecturl="https://www.google.com/url?q=http://wiki.ros.org/ROS/Tutorials&source=gmail&ust=1614877639036000&usg=AFQjCNEr1snbNzZ-wGmAIbyBoynbyxbWfw" href="http://wiki.ros.org/ROS/Tutorials" target="_blank">http://wiki.ros.org/ROS/Tutorials</a>

Turtlebot3: <a data-saferedirecturl="https://www.google.com/url?q=https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/&source=gmail&ust=1614877639036000&usg=AFQjCNFG3TqbJofsQDrda144mCNvFyN48Q" href="https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/" target="_blank">https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/</a>

Gentle introduction to ROS: https://www.cse.sc.edu/~jokane/agitr/agitr-letter.pdf

Overview of SLAM: https://www.dfki.de/fileadmin/user_upload/import/5034_freseki10.pdf

SLAM by GMapping: https://people.eecs.berkeley.edu/~pabbeel/cs287-fa11/slides/gmapping.pdf

Teams

Team1: Zarrin, Jessica, Duvall

zali11ATfordham.edu,Jessica.DeMotaMunoz86ATmyhunter.cuny.edu,duvall.pinkneyATgmail.com,

Team2: Feizza,Connie, Sylvia

feizza01ATgmail.com, dengconnie0723ATgmail.com, silviadb48ATgmail.com

Schedule

W1 3/1: Begin Phase 1

UBUNTU in place, ROS installed, Start tutorials

W2 3/8: >= 50% ROS tutorials. One team member to specialize in gazebo knowledge

W3 3/15: ROS tutorials done. Motion and sensing scripts. One team member to specialize in gMapping

W4 3/22: Demo gMapping. wander script. exploration mapping

W5 3/29 Begin Phase 2

Design & testing of exploration algorithms

W6 4/5:

W7 4/12:

W8 4/19:

Workshop 4/23 -- Poster/Video from each team showing rsults

Permissions

Persons/group who can view/change the page:

• Set ALLOWTOPICCHANGE = FRCVRoboticsGroup

-- (c) Fordham University Robotics and Computer Vision