This project involves various topics related to mobile robotics, focusing on localization, mapping, sensor fusion, and control. The work involves creating a robot system capable of understanding its environment, avoiding obstacles, and navigating autonomously using a variety of sensors, including LiDAR.

1. Sensor Fusion: Combined data from different sensors (e.g., LiDAR, IMU) to improve the robot's state estimation.

2. Kalman Filter: Implemented to predict and correct the robot's position based on sensor readings.

3. Probability Theory: Applied in probabilistic models for localization and mapping, including handling uncertainties in sensor measurements.

4. Robot Kinematics: Studied the robot's motion model, including the relationship between wheel velocities and position changes.

5. Odometry: Used to estimate the robot's position over time based on wheel encoders.

6. Robot Localization: Focused on determining the robot's position within a map using techniques like particle filters.

7. Control: Developed control algorithms to move the robot in a desired direction while avoiding obstacles.

8. Map Representations: Created a map representation for navigation, such as grid maps or occupancy grids.

9. Mapping: Implemented techniques for constructing a map of the environment using sensors (LiDAR).

10. SLAM (Simultaneous Localization and Mapping): Designed and tested SLAM algorithms to allow the robot to both localize itself and build a map simultaneously.

11. Obstacle Avoidance: Used sensors (LiDAR, cameras) to detect obstacles and plan paths to avoid them.

12. Speed and Separation Monitoring: Monitored the robot's speed and maintained separation from obstacles and other robots.

13. Using LiDAR Sensors: Implemented algorithms to process and interpret data from LiDAR sensors to generate maps and detect obstacles.

To prepare your PC you need:

1. Install Ubuntu 22.04 on PC or in Virtual Machine. Download the ISO Ubuntu 22.04 for your PC.

2. Install ROS 2 Humble or Jazzy on your Ubuntu 22.04.

3. Install ROS 2 missing libraries. Some libraries that are used in this project are not in the standard ROS package. Install them with:

   sudo apt-get update && sudo apt-get install -y \
   ros-humble-joint-state-publisher-gui \
   ros-humble-xacro \
   ros-humble-ros2-control \
   ros-humble-moveit* \
   ros-humble-ros2-controllers \
   ros-humble-ros-gz-* \
   ros-humble-*-ros2-control

4. Install VS Code and Arduino IDE on your PC in order to build and load the Arduino code on the device.

5. Install Python and C++ additional libraries:

   sudo apt-get update && sudo apt-get install -y \
   libserial-dev \
   python3-pip
   pip install pyserial

ros2 launch arduinobot_bringup simulated_robot.launch.py

Jeswanth Kanipakam: LinkedIn - https://www.linkedin.com/in/jeswanth-kanipakam

Email: [email protected]