Unicycle

Project: The goal of this project was to create a motion planning pipeline for a unicycle robot in a dynamic warehouse environment. The whole pipeline had to be developed from the ground up. 

Solution: The implementation comprised of RRT* as a global path planner. A linear MPC controller as a local planner in combination with a Geometric Velocity Obstacles algorithm to avoid moving obstacles and adapt to a dynamic environment. Initially, all modules were tested separately in simple environments. Finally, the motion planning pipeline as a whole has been tested and proven to work in a variety of warehouse scenarios. The details are provided in the paper below, and a demonstration of the pipeline can be seen in the video.