Results
Table of Contents
- Final Products
- Demo Videos
- Demo 1: Fixed Goal - The first time a TurtleBot successfully stops at the goal
- Demo 2: Fixed Goal - The Black TurtleBot traverses the U-shaped maze with a fixed goal
- Demo 3: Fixed Goal - The red TurtleBot traverses the 4 x 5 maze with a fixed goal
- Demo 4: Fixed Goal - The black TurtleBot traverses the 5 x 6 maze with a fixed goal
- Demo 5: Fixed Goal - The yellow TurtleBot traverses the 5 x 6 maze with a fixed goal
- Demo 6: Fixed Goal - Computer screen while running
- Demo 7: Moved Goal - The red TurtleBot successfully follows the goal in a u-shaped maze
- Demo 8: Moved Goal - The red TurtleBot successfully follows the goal in the 5 x 5 maze
- Demo 9: Changed Path and Moved Goal - The yellow TurtleBot successfully follows the goal with a dynamic path
Final Products
Our project worked pretty well, and we were really happy that the demo worked.
The main task was to find a path in a custom build maze with green construction paper.
There were two AR tags, one will be on the TurtleBot, the other one will put in the maze. With the help of the camera on the side to provide information of the maze and the position of the TurtleBot and the goal by using both AR tags.
After integration, the TurtleBot is able to find the shortest path from the starting point to the goal and moves to the goal in many different settings of the maze.
Demo videos
Fixed Goal - The first time a TurtleBot successfully stops at the goal
Fixed Goal - The Black TurtleBot traverses the U-shaped maze with a fixed goal
Fixed Goal - The red TurtleBot traverses the 4 x 5 maze with a fixed goal
Fixed Goal - The black TurtleBot traverses the 5 x 6 maze with a fixed goal
Fixed Goal - The yellow TurtleBot traverses the 5 x 6 maze with a fixed goal
Fixed Goal - Computer screen while running
Moved Goal - The red TurtleBot successfully follows the goal in a u-shaped maze
Moved Goal - The red TurtleBot successfully follows the goal in the 5 x 5 maze
Changed Path and Moved Goal - The yellow TurtleBot successfully follows the goal with a dynamic path
During the early morning of our demo presentation, we completed a new version of our code, but we did not have time to test it thoroughly, so we decided to use an older version instead of the latest one. The day after our presentation, we returned to the lab and made some changes to the code to finish our final product. The latest code allows the TurtleBot to be able to follow the goal even if the maze is changed and/or the goal is moved. During our presentation, we could only change the goal position while the maze was fixed. The video for this recent change is the following video: