Motion Planning for RoboCup MSL Robots

This repository includes the Webots simulation for motion planning (local and global) of a RoboCup MSL Robot using a 4-wheel omni-drive. This repository is maintained by team ERA, IITK.

MacOS Installation

Install brew version of UTM for easily autoupdating UTM settings: https://docs.getutm.app/guides/ubuntu/ Install Ubuntu 22.04 (keep all settings defaiult and no need of hardware acceleration OpenGL as we are mostly going to use terminal only): https://www.youtube.com/watch?v=zeBo5jK7R8Q Install ROS2 Jazzy Install webots_ros2 package: https://docs.ros.org/en/jazzy/Tutorials/Advanced/Simulators/Webots/Installation-MacOS.html Run VSCode locally by SSH onto the machine: utmapp/UTM#2465 (comment) Use UTM for visualisations or running terminal nodes

Requirements

1. OpenCV v4.8.1 (C++ Version)
2. OMPL v1.6 (C++ Version, python bindings are not required)
3. Webots v2023b
4. cmake
5. boost

Note: Use following instructions for Ubuntu -

sudo apt update && sudo apt upgrade
sudo apt install libopencv-dev
sudo apt install libboost-all-dev
sudo apt install libompl-dev ompl-demos

For MacOS, you need specific homebrew packages.

How to Run

• Install Webots and OpenCV
• Clone the repository and % cd controllers/o1
• Create a build directory and navigate to it: % mkdir build && cd build
• Configure using cmake with % cmake ..
• Build the project with % make
• Open the world in Webots and run the simulation

Note: To use the repository with Visual Studio Code Intellisense, change the necessary include paths in the .vscode folder.

Code Organisation

• o1
  • Coordinate.hpp => It has definitions of wheel_angular_vel struct and Point2D struct
  • Motion.hpp => Has complete description of class PID and the class which implements motion control of the robot.
  • Robot.hpp => Provides code needed for interfacing the desired motion from Motion.hpp to actual wheel velocities via forward and inverse kinematics with odometry information.
  • Visualise.hpp => All the code necessary for the visualization of the current state of the robot.
  • Icecream.hpp => Template Library for Debugging.
  • PathPlanner.hpp => Code that needs to be imported in main for generating a set of points. Needs to be split into a corresponding PathPlanner.cpp file.

Theory

Wheel Control and Local Motion Planning

• A simple PID controller was integrated with the system to minimize the error.
• Maintaining Orientation:
• Inverse Kinematic Equations:
• Forward Kinematic Equations:
• Control Diagram:

Global Path Planning

References

• https://github.com/MasdikaAliman/Kinematic-4-Omniwheels-in-Webots