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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

  • Copy the 'turtlebot3', 'turtlebot3_msgs', and 'turtlebot3_simulations' folders from 'catkin_ws/src/' from the original exercises
  • Copy the 'project' folder into 'catkin_ws/src/exercises' and run the code from there.

To Run

  • Launch Gazebo using the environment you wish
  • Go to init_formations.py and set MAP_PARAMS to the map you want (e.g SIMPLE_MAP)
  • If you want to run RRT, set RUN_RRT to True
  • Predefined paths are stored in the precomputed_rrt_paths.py file 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

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)