Multi-Robot-Formation-Control

A group project implemented in February 2020 for the third year Mobile Robot Systems course at the University of Cambridge

The project report can be found at: report.pdf

The results of the project can be found in a video I compiled (MultiRobotFormationControl.mp4)

An overview of the project work can be found in the presentation MultiRobotFormationControl.pptx.

Requirements

cd src_directory_of_workspace
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

To Run

• Go to init_formations.py and set MAP_PARAMS(line 95), FORMATION(line 102), LEADER_ID(line 12) to what you want (e.g SIMPLE_MAP, COLUMN, 2; They means using simple map, column formation and leader is the central robot)
• launch formation produce process; eg: roslaunch formation_move simple_column.launch
• run formation_move.launch: roslaunch formation_move formation_move.launch

NOTE: If you change the starting positions of the robots in the environment, you need to recompute a new path, then either store it in the precomputed paths file or reset the starting positions - If you want to run RRT, set RUN_RRT to True; - Predefined paths are stored in the precomputed_rrt_paths.py file

To run the decentralised version, start any map as usual then launch formation_move_decentralized.launch for each robot, supplying id as an arg (e.g id:=1)

Project contributors: Benjamin Philps (BenjaminPhi5), Sumaiyah Kola (sumaiyah) and Ajay Ahir (DoodleBobBuffPants)