Husky

Project: The goal of this project was to control a small robot (Husky) using ROS2 and cover as much ground as possible in a short time. The robot should navigate through the provided labyrinth with obstacles. Some obstacles were able to move and collision with these objects must be avoided. We could only make use of a top view camera to navigate and map the labyrinth, the algorithm had to be robust to unknown environments, as it will be tested in one. 

Solution: Each task: Mapping, detection, planning, motion control and interaction was separated in a ROS node. The nodes communicated through the ROS framework. A short video showing the result can be found on the left. For more information, feel free to email me.