Contributors

1. Manan
2. Gaurav
3. Aditya

Static Map Navigation:

• Mapping

  • Mapping can be achieved , using the ultrasonic sensors easily(thanks to the sensor modelling done!) , but accuracy is questionable!
  • I think the accuracy , will be enough for our purposes!

• Localisation

  • Here local localization is relatively simple
  • Assuming that there is no drift in wheel odom , what we have to do is basically the position tracking by fusing IMU and odom
  • The main problem , how is going to localise itself in the map , beacuse that is easy with camera , as well as LIDAR , but very difficult to achieve with Ultasonic Sensors

• Motion (Path Planning)

  • Relatively simple , when the robot is localised and we have a map of the surrounding
  • Direct ros package can be used (move_base)
  • Or we can code up our own planner(kinodynamic path planning!)

Alternate Sensors:

• Camera
  • If we use a monocular camera , then localisation will be simpler relatively

To do:

• Do more research on how localisation is done with Lidar and depth cams
  • Then think , how to implement it on Ultrasonic sensors