Multi Robot Navigation for environment cleaning application
Abstract
- This project addresses the navigation and environmental cleanup of waste objects through a multi-robot system.
- A potential field-based controller is developed employ a group of differential drive mobile robots equipped with grippers to autonomously collect garbage bag and transport it to a designated garbage bin.
- The methodology involves spawning a varying number of robots and waste objects randomly on a known map, where the environment, waste object locations, and garbage bin placement are predefined.
- A potential field-based controller guides each robot through the environment, utilizing a designed navigation function to ensure obstacle avoidance and successful waste collection.
- The simulation environment leverages the "Gazebo" platform in conjunction with ROS2 to emulate the Multi-Robot System. The differential drive robots are equipped with grippers suitable for collecting garbage bag.
Mathematical Model
The Robot has a centralized communication with robots having complete knowledge of the map of the environment.
- The environment is bounded and contains obstacles in the form of spheres.
- The robots are assumed as obstacles in the environment.
- The trash bag is assumed to be a sphere and hence the goal function is to minimize the distance to the sphere. The mobile robot kinematics is given by robot image.
π₯Μ = π£ sin(ΞΈ)
π¦Μ = π£ πππ (ΞΈ)
ΞΈΜ = π
π =
π
(ππ + ππ
)
2
π =
π
(ππ β ππ
)
πΏ
π₯Μ = π£ cos(π)
π¦Μ = π£ sin(π)
πΜ = π