2022 AMR Final Project

Final project for the course of Autonomous and Mobile Robotics 2021/2022.

Student: Alessandro Lambertini Mat: 1938390;

Student: Denise Landini Mat: 1938388;

Student: Gianluca Lofrumento Mat: 1956579;

📝 Assignment

1. Implement D* and the two versions of D*Lite;
2. Implement Field D*;
3. Re-Implement these 4 algorithms as an add-on for this repository Link 🔗;
4. Compare the performance of the algorithms;
5. Implement improved versions of D*, D*Lite and Field D*;
6. Test these algorithms on coppeliaSim with a differential drive robot.

📜 Report

• Report Link 🔗

• Presentation Link 🔗

  In these files you can read more about the code and the result of the project.

💯 Final score:

Score: 30/30

🙋 Info

for any doubt or clarification contact us on:

• email at:
  • lambertini.1938390@studenti.uniroma1.it;
  • landini.1938388@studenti.uniroma1.it;
  • lofrumento.1956579@studenti.uniroma1.it.
• instagram:
  • Alessandro Lambertini 🔗;
  • Denise Landini 🔗;
  • Gianluca Lofrumento 🔗.

🎞️ Snapshots

Global Map

D* planning and execution.

D* Lite v1 planning and execution.

Field D* planning and execution.

Simulation on CopeliaSim