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Problem: A group of robots, called a swarm, is placed in an unknown environment and is supposed to explore it independently. The goal of the exploration is the creation of a common map.
Implementation
- Equipping six Kobuki robots with appropriate sensor technology, a large battery, a router and the Jetson board
- Setup of the Jetson-Boards with self-made ROS2 nodes and the set up mesh network
- Writing of launch files for the common start of all functions
- Reinforcement learning is used to train an AI that controls the swarm by selecting points for the robots to approach and navigating to them and navigating them there.
- Setting up a responsive website using Angular and the Bootstrap
Framework.
Durch Panoramen in Kombination mit dem ORB-SLAM ist ein schnelles Tracking möglich, liefert jedoch ausschließlich spärliche Daten. Durch die Kombination mit einem neuronalen Netz soll der SLAM Algorithmus zu einem RGBD-SLAM erweitert werden, um ein besseres Tracking und eine dichtere Punktwolke zu gewährleisten.