luis-munu/coppelia-roboexplorer

A robot designed to map a CoppeliaSim environment using Robocomp.

Explorer

Explorer robot that maps CoppeliaSim environments

Table Of Contents

• About the Project
• Built With
• Getting Started
  • Prerequisites
  • Installation
• Usage
• License
• Authors
• Acknowledgements

About The Project

The project is focused around automating the movement of a Shadow robot to map all the rooms on a simulated Coppelia environment. Here's how:

• The robot makes use of its LIDAR sensors and cameras along with YOLO in order to detect items and rooms, creating a graph with them.
• The robot is capable of dodging obstacles thanks to a Dynamic Window Approach algorithm (DWA) developed by @pbustos.
• When the robot has done some loops to the environment, it will fully stop, it is also able to unstuck himself.

Built With

The project makes extensive use of Robocomp and CoppeliaSim

Getting Started

First, you will need to fulfill the prerequisites:

Prerequisites

The project is based on many Robocomp related components that need to be installed:

• Main Robocomp module
• Shadow robot
• Prebuilt environments
• CoppeliaSim It is quite tricky to install Robocomp correctly, therefore it is recommended to read the docs carefully.

Installation

Move this repository to the Components folder of Robocomp.

Usage

Build the project with CMake and run it.

Make sure both CoppeliaSim and Yolo are running.

License

Distributed under the MIT License. See LICENSE for more information.

Authors

• Valkam - ** - Valkam - **
• AGonzalezLoro - ** - AGonzalezLoro - **
• Zeta1201 - ** - Zeta1201 - **

Acknowledgements

• ShaanCoding
• Othneil Drew
• ImgShields