This is the controller code for an E-puck robot simulated on Webots 2022 simulator. The goal of the challenge is to collect as many rupees as possible in the shortest time and convert them into dollars by reaching designated goals in an unknown maze.
To run this code, you will need the following:
Python 3.9.5
The following Python libraries: OpenCV Scikit-learn Scikit-multilearn
To install the required libraries, run the following command:
pip install -r requirements.txt
To run Dave's controller, open the "FinalizedMaze.wbt" file in Webots 2022 and select the "Dave" robot.
Then, select the "Controller" tab and choose the "dave_controller.py" file as the controller.
The code is structured as follows:
dave_controller.py is the main controller file, which contains the code that Dave will use to navigate the maze, collect rupees and convert them to dollars.
maze.py contains the code that is used to create the maze and the keep track of walls, visited cells and unknown cells.
slam.py contains the code that is used to perform SLAM (Simultaneous Localization and Mapping) using distance sensors and camera data.
model.py contains the code that is used to train a multi-label classification model that can predict the blocked cells from distance sensor readings.
color_detector.py contains the code that is used to detect objects from camera images.
game.py contains the logic for selecting exchanges and money drops in the optimal order.
This code is licensed under the MIT License.