Comparative Study for Virtual and Physical World for Autonomous Mobile Robot

Lee, Lip Wai (2021) Comparative Study for Virtual and Physical World for Autonomous Mobile Robot. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

This project is to do a research on the performance of an autonomous mobile robot to localise and navigate in indoor environment in virtual and physical world. On the other hand, there is also a proposed method that using the camera to capture top view image of the indoor environment to localise and navigate the robot to its destination. The robot used in this project will be the Turtlebot3 Burger and the Gazebo simulation software is selected to act as the virtual environment. Several image processing techniques will be taken to extract the information of the top view image. The localisation is done when the YOLOv3 is used to do object detection to detect the robot, obstacle and destination and the position of the objects in the image is recorded. After that, navigation using A* path planning algorithm with Euclidean distance is performed to plan a path for the robot to reach its destination without colliding to the walls and obstacles. The evaluation of the robot’s performance between the simulation and real life and the robot’s performance in the proposed method is based on the time taken of the robot to reach its destination in the maze and the number of collisions to the wall.