Intelligent Navigation and Control Systems Laboratory
Department of Convergence Engineering for Intelligent Drone
School of Intelligent Mechatronics Engineering, Sejong University
This project guides you through a simple process of autonomously driving a 4-wheeled mobile robot along a predetermined smooth trajectory using ROS (Robot Operating System). We will start by simulating the robot's behavior in ROS and then transition to implementing the same approach on a real-world robot.
Duration: At most two weeks.
A total of nine tasks will be assigned, and upon completion, you will earn certain points.
- Task 1 (5 points).
- Task 2 (20 points).
- Task 3 (10 points).
- Task 4 (10 points).
- Task 5 (10 points).
- Task 6 (10 points).
- Task 7 (15 points).
- Task 8 (10 points).
- Task 9 (10 points).
The maximum score for a Graduate student is 100 points, while for an Undergraduate student, it is 75 points.
- Understand the basic concepts of Ubuntu (Command-line interface), ROS (topic, launch, node, message, etc), and Github.
- Create a simple ROS package (project) that includes our control algorithm (code).
- Design a controller to drive a mobile robot automatically.
- Implementing the controller programmatically and evaluating its performance in ROS's simulation and on a real-world robot.
- Learn how to record the dataset (rosbag) from the sensor if necessary (only IMU and GPS) and perform analysis using MATLAB.
- AgileX Scout Mini.
- OS: Ubuntu 20.04.
- ROS: Noetic / Foxy.
- Programming Language: C++ / Python.
![](https://private-user-images.githubusercontent.com/51826956/254501294-ad965c0d-fa97-418a-9bbc-45797883e424.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjE0MTA0NjQsIm5iZiI6MTcyMTQxMDE2NCwicGF0aCI6Ii81MTgyNjk1Ni8yNTQ1MDEyOTQtYWQ5NjVjMGQtZmE5Ny00MThhLTliYmMtNDU3OTc4ODNlNDI0LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA3MTklMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNzE5VDE3MjkyNFomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWUwN2JjYjYzMThlZjUyMTdlMmI3NDI0M2UxM2UxOWJiZTJiOTE2NTFhZTU0NjRjYWNjZDE0NGUyNTEwOTIwMzEmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.Kygm5CxmyjZo2-asfNOhxP74b7_F7W_GuFsn_geb6Ns)