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GPBOT - Basic Sensor based General Purpose AMR

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Name GPBOT
Description This 4-wheeled robot is equipped with GPS, IMU, LiDAR, Distance Sensors, and a 2-DOF camera (using linear and rotary actuators). It detects objects using computer vision, avoids obstacles, and navigates autonomously.
Start June 2024
Repository GPBOT🔗
Type Individual
Level Beginner
Skills Simulation, Programming
Tools Used Webots, Python
Current Status On Hold

Overview

The robot is equipped with GPS, IMU, LiDAR, and a 2-DOF camera, enabling it to detect objects using computer vision, avoid obstacles, and navigate autonomously.

Live Interaction

Interact with the robot in real-time via the following link:

CLOUD INTERACTION_WEBOTS

Demo Videos

Explore the robot’s functionalities through these demo videos:

Camera Test Object Detection LiDAR in Action
GPBOT

Robot Overview

Features:

  • 4-Wheeled Mobility: Designed for efficient movement in diverse environments.
  • Sensor Suite:
    • GPS: Provides global positioning and navigation.
    • IMU: Tracks orientation and movement.
    • LiDAR: Maps the surroundings and detects obstacles.
    • 2-DOF Camera: Offers flexible vision capabilities with linear and rotary actuation.
  • Autonomous Operation: The robot navigates without relying on complex algorithms, utilizing basic control mechanisms.

Controls

The following key mappings define the robot’s movement and camera operations:

Movement Controls

Key Action
↑ Move forward
↓ Move backward
← Turn left
→ Turn right

Camera Controls

Key Action
W Move camera up
S Move camera down
A Rotate camera left (ACW)
D Rotate camera right (CW)

Control Visualization

Movement
      ┌───┐┌───┐┌───┐
      │ ← ││ ↑ ││ → │
      │ ← │└───┘│ → │
      │ ← │┌───┐│ → │
      │ ← ││ ↓ ││ → │
      └───┘└───┘└───┘
Camera
      ┌───┐
      │ W │ 
      └───┘
    ┌───┐┌───┐┌───┐
    │ A ││ S ││ D │
    └───┘└───┘└───┘

Implementation Details

The robot has been built from scratch, integrating multiple sensors to enhance its navigation and detection abilities.

  • Camera Functionality: The 2-DOF camera captures images and analyzes the environment for object recognition.
  • Object Detection: Using computer vision, the robot identifies and reacts to obstacles in its path.

Installation and Usage

Requirements

  • Webots: Download and install Webots from here.

Setup Instructions

  1. Clone the repository: 
    git clone https://github.com/Mummanajagadeesh/gpbot-w.git
cd gpbot-w
  2. Open Webots and load the robot’s world file.
  3. Start the simulation to test the robot’s capabilities.

Future Enhancements

  • Algorithm Integration: Implement advanced path planning and control algorithms.
  • Enhanced Object Recognition: Utilize AI-based models for improved object detection.
  • Multi-Robot Coordination: Develop cooperative strategies for multiple robots in a shared space.