differential-robot

Autonomous navigation for a 2-wheel differential robot.

Description

This repo contains localization and navigation (path planning + control) for a 2-wheel differential drive robot (see picture below).

The robot consists mainly of:

• main computing unit (esp-based controller with built-in memory)
• four light sensors
• 2 DC motors with encoders (and wheels on them)
• chargeable batteries

Besides functionality for a real robot, there is also a simulator provided for a virtual robot (see below).

Content of the repository

• lib/robot_discovery.py: listen for broadcast intro packets and discover robots on the LAN.
• lib/robot_control.py: UDP control client with measurement handling.
• lib/robot_sim.py: UDP simulator compatible with RobotControl.
• lib/visualiser.py: Pygame-based 2D visualization helper.
• lib/RRT/: minimal RRT and RRT* implementations plus image-based primitives.
• lib/poses/: representation of a robot pose.
• lib/kinematics_and_estimation/: pose estimation.
• lib/map/: map object.
• lib/measurements/: handling robot measurements.
• lib/resampling/: particle resampling.
• utils/: small UDP utilities.
• examples/: demonstrations of individual components
• other utility files for type annotations and keyboard listeners.

How to run

Run with cwd in src:

python -m autonomous_navigation

Note that there is a CONFIGURATION at the top of the file where you can configure the run.

Dependencies

Core dependencies are listed in requirements.txt.