Autonoums-navigatation

This is a ROS packackge built for autonoums navigatation thorugh website it actually facilitates a autonoums delivery system when its run along with Shopping-Cart.The simulatation file is setup in Simulaltation

Thought Process

One day I saw my mom complaining about how the delivery of the essential goods during the pandemic was so delayed and still unsafe. I thought hard and how about we put robots in place of humans and interface it with a website. So I tried learning technologies to solve the issue and build something that solves it.

Demo

InShot_20200527_135229767.mp4

Hurdles

I was starting from scratch as I had no experience in ROS so I started with the documentation learnt a bit. Then I nose-dived into the project and understood by failing most of the times.

And the other thing was when I built it was taking a longer path so I optimized it using the A* algorithm that is attaching a heuristic function to it reference: paper

Before optimiztation

InShot_20200524_153217841.mp4

Tech-Stack

Its built using the technoliges below

• ROS
• Gazebo
• Web-sockets
• Open-CV

ROS

The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms.

Gazebo

Robot simulation is an essential tool in every roboticist's toolbox. A well-designed simulator makes it possible to rapidly test algorithms, design robots, perform regression testing, and train AI system using realistic scenarios.

Simultation in gazebo and rviz

InShot_20200521_161425019.mp4

Web-Sockets

A WebSocket is a standard protocol for two-way data transfer between a client and server. The WebSockets protocol does not run over HTTP, instead it is a separate implementation on top of TCP.

Open-CV

OpenCV (Open Source Computer Vision Library) is an open source computer vision and machine learning software library. OpenCV was built to provide a common infrastructure for computer vision applications and to accelerate the use of machine perception in the commercial products.

Funtionalaties

• Obstacle avoidance
• Path planning
• Works with the website

Introduction

To setup this project first setup a ROS package(tutrioal) Then clone the repo in the /src folder and build excutables using

catkin_make

Get the simulaltation up and running

Now run it

Also start the Shopping-Cart Now when You go to the cart enter the cordinates in the format

x:your_x_coordinate y:your_y_coordinate

Voila!!! Your robot moves to the specified postions navigating the obsatcles and planning the optimal path

ScreenShots

Website

Entering co-ordinates

Start-of-robot

Navigatating obstacles

Reaching destination