Automatic path planning is one of the most challenging problems confronted by autonomous robots. Generating optimal paths for autonomous robots are some of the heavily studied subjects in mobile robotics applications. The aim of the project is to develop a rapid prototyping platform to run and test path planning algorithms. It uses overhead camera for 2D environment mapping, Bluetooth for wireless communication and the robot has calibrated PID controller for smooth trajectories. It overlooks the hardware complications and provides easy implementation for search algorithms.
A-STAR SEARCH ALGORITHM
A* Search algorithm is one of the best and popular technique used in path-finding and graph
traversals. The matrix generated is given as input to the A* algorithm which further generates shortest path.
LOCALIZATION OF BOT
AprilTag is a visual fiducial system, useful for a wide variety of tasks including augmented reality, robotics, and camera calibration. The AprilTag detection software computes the precise 3D position, orientation, and identity of the tags relative to the camera.Real-time performance can be achieved even on cell-phone grade processors. The following are different types of apriltags. We have used Tag36h11..
The Arduino to PC connection can be useful in applications where the Arduino reads sensors then pass their values via serial Bluetooth to a PC for processing. The distance for this transceiver is about 30 feet or so but it really depends on many other variables. This is ideal for indoors projects.