Planning and ControlDescription
The goal of this project was to implement planning and control algorithms to guide a simulated robot through a warehouse.
The warehouse layout is described with an ASCII file where
# symbols represent walls, numbers represent
packages that need to be retrieved,
A represents the starting position,
traversable space and the
@ symbol represents the drop zone.
A warehouse layout for the featured image would be given as the following:
.0#.. ..... ..#1. ..... A...@
The rules are as follows:
- - Packages must be picked up and dropped off in order
- - The robot cannot come within a certain distance of the walls or the drop off location
- - There are limits on the amount the robot can rotate in each time step
- - More efficient routes are preferred
The challenge is that packages are located in fractional -- not integer -- locations. This research and my project solved this through discretization of the provided warehouse layout file and precise calculation of the robot heading.
A brief overview for picking up and deliver one of two packages for a simple warehouse is shown in the first two featured images. The green arrows show where pick up or drop offs take place.
A video showing the completion of a more complex warehouse layout is also shown.