This project is part of the Robotics course from Instituto Superior Técnico.
The main goal of this project is to implement a navigation strategy so that the Pioneer-3DX robot is able to follow a reference trajectory, evaluating if there is any opened, semi-opened or closed door.
In order to control the robot tracjectory, we will be using the Laser Range Finder (LRF) to evaluate the distance between the robot and the wall and the depth between the wall and the door in order to evaluate the state of the door.
To run this program you need to:
-
Install urg_node
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Run Robotics.launch
A video showing the behavior of the robot is avaiable at Youtube
The final report is also avaiable for download, however it is written in Portuguese.
- Diogo Morgado
- Luis Afonso Lopes
- Valter Piedade