Reconocimiento de espacios con optimización de trayectorias utilizando el robot “Turtlebot 3 Burger”

Abstract

Objectives : Apply on the platform “TURTLEBOT 3 BURGER” the algorithms of Dijkstra and A-star (A*) to optimize trajectories of less travel within a flat hexagonal platform and wih obstacles.

Determine the hardware characteristics of the “TURTLEBOT 3 BURGER” robot, sensors, processing card and actuators.

Recognize the characteristics that ROS allows as a tool for the development of projects with robots.

Compare methods to drive a robot from a starting point to an end point, recognizing its trajectory by means of a continuous mapping and monitoring of the robot.

Conclusions:

Algorithm A * has an optimal development and easy programming that mathematically calculates a smaller path compared to generic algorithms or potential field methods that calculate imaginary fields of repulsión emanating from obstacles and allowing to define a trajectory towards an object.

Applying the A-STAR and Dijkstra algorithms allowed to plan the trajectory, in which the Windows dynamic approach allowed the robot to define a route that could follow the path planned by the algorithm.

During the tests of operation with the robot to make the map it is necessary to be connected to the internet to transmit the data to the computer and to be able to have updates every 2 ms of the location and mapping of the environment.

In order for the robot to have better translation and mobility within the terrain, the robot needed to recognize the environment and position itself in such a way that it would take less time to avoid obstacles and reach its destination.