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Autonomous-Mobile-Robotics

This repository contains from the scratch ROS implementation of robot autonomy algorithms.

System requirements

  1. Ubuntu 20.04 LTS
  2. ROS Noetic

Installation steps

  • sudo apt-get install ros-noetic-hector*
  • git clone [email protected]:sManohar201/Autonomous-Mobile-Robotics.git
  • cd Autonomous-Mobile-Robotics
  • catkin_make or catkin build
  • source devel/setup.bash

List of topics covered in the course

  1. Perception
  2. Sensor Fusion
  3. Localization
  4. Simultaneous Localization and Mapping
  5. Path Planning

TODO: Perception

  • combine front and rear laser into a single source of laser data.
  • feature extraction algorithm, line, blobs, and corners for now.
  • data association for slam and localization.
  • Observation model

TODO: Sensor Fusion

  • base template for sensor fusion
  • Implement EKF
  • Implement UKF
  • Compare performance between sensor fusion package and robot_pose_ekf package
  • odometry to trajcetory package to compare how odom estimates drift from true state values.

TODO: Localization

  • Iterative closest point (should I move this to perception)
  • Kalman filters with iterative solution.
  • Monte Carlo Localization.

TODO: SLAM

  • Occupancy grid mapping (half done improve bresenham rasterisation algorithm)
  • EKF slam with unknown correspondencies.

TODO: Path Planning