jgvictores / participant_ShrinivasSK

iros2021challenge-controller-py

This repository is part of the 2021 IROS-RSJ Robotic Challenge for Young Students!

The Logic

• Our code is divided into 3 modules
  1. Mapping
  2. Planner
  3. Controller
• For Mapping, we used the Lidar Data and plotted it in a 100x100 grid by transforming the points that we get from the lidar (that are wrt the bot), to the world frame
• For the Planner, we have used A-star algorithm. As the bot moves and the map gets updated, we keep generating the path using A-star and give it to the controller to follow
• For the Controller, we have implemented MPC (Model Predictive Control) for path tracking.

Visualisation

While mapping the environment, we also display the location of the bot on the map and the path generated from A-star that it has to follow. Following is an image of the same.

Further Improvements

The bot runs smoothly on some environments, but we still have to tune the controller to be more adaptive towards other scenarios.