robot_coordinated_evacuation

The project is about designing a coordinated evacuation of a site cluttered by several obstacles. Three robots have to react to an emergency reaching a gate in minimum time.

Objectives

• The robots move at a constant speed (so they can execute Dubins Manoeuvres).
• The robots have to move without touching the border of the map and the obstacles.
• The robots must not collide with each other.

Solution

• A roadmap is created via Vertical Cell Decomposition algorithm
• A path is computed from roadmap via Breadth First Search algorithm
• Path optimization is conducted by looking-ahead the path vertices
• Collision-free Multipoint Markov-Dubins curves are computed via Iterative Dynamic Programming
• Asynchronous coordination is conducted via a time-step-based collision checking for the three robots
• If a collision occurs, the second best path from BFS is employed for one robot

Demo

Environment

• Ubuntu 16.04
• ROS Kinetic
• Gazebo >= 7.16
• make >= 4.1
• gcc/g++ >= 5.4

Structure

~/workspace
    |__ project
    |__ simulator

Setup

Simulator

$ mkdir ~/workspace
$ cd workspace
$ git clone https://github.com/AlexRookie/AppliedRoboticsEnvironment.git simulator/
$ cd simulator
$ catkin build
$ source ./environment.sh

Planner

$ cd workspace
$ git clone https://github.com/jhan15/robot_coordinated_evacuation.git project
$ cd project
$ mkdir build
$ cd build
$ cmake ..
$ make
$ source ../environment.sh

Usage

Run simulation

# terminor 1
$ AR_simulator
# terminal 2
$ AR_pipeline
# terminal 3
$ AR_rviz
# terminal 4
$ AR_run

Other usage

# Modify the environment
$ gedit $AR_map_file