idangrady / mobile-robotics-control

TUe System and Control

Mobile-Robotics-Control

TUe System and Control

Progress

week 3

• Create beta functionality using trig functions, for a smarter and more adaptive obstacle identification
• Add Singleton class for the necessary beta trigonometric functionality.
• Connect to created MAP and nodes
• Add goal-oriented obstacle avoidance functionality
• Use odometry data to estimate robot position and connect it to the decision process
• Finish global path planning and connect it to local path planning

Setting up and Running the MRC Simulator

Follow these instructions to set up and run the MRC simulator on your system:

For a more detailed explanation, please refer to the 'Installation_instructions_and_exercises1.pdf' file in Week 1.

1. Installation: Make sure the MRC simulator is installed on your system. If you haven't installed it yet, please refer to the simulator's documentation for installation instructions.

2. Building the Project:

   • Navigate to the build directory in your local repository.
   • Delete all existing files and folders by running the command: rm -r *
   • Generate the necessary build files by running the command: cmake ..
   • Compile the project using the make command.

3. Launching the Simulator:

   • Open the MRC simulator by running the command: mrc-sim.
   • Launch the sim-rviz visualization tool using the command: sim-rviz.

4. Running the Simulator:

   • Navigate to the bin directory in your repository.
   • Run the simulator by executing the command: ./hello.

Website:

https://cstwiki.wtb.tue.nl/wiki/Mobile_Robot_Control_2023