Tiago Robot in Kitchen Simulation

Odometry, Differential Kinematics, LiDAR-based Mapping, Probabilistic C-Spaces, RRT, A*, Behaviour Trees

This repository contains a Webots project featuring a Tiago robot in a simulated kitchen environment. The project includes a detailed world file for the kitchen setup and controller scripts for managing the robot’s behavior.

Overview

• Simulation Environment: A kitchen world with realistic elements, allowing the Tiago robot to navigate and interact with its surroundings.
• Robot: The Tiago robot is configured with sensors and actuators to perform tasks within the kitchen.
• Controllers: Custom scripts to control the robot’s behaviour which is to navigate to certain waypoints while simultaneously mapping the environment, planning path to goal location, generate trajectory and move through the trajectory.

Repository Structure

• worlds/ - Contains the Webots world file for the kitchen simulation.
  • kitchen.wbt - The main simulation world featuring a kitchen setup.
• controllers/ - Includes custom controllers for the Tiago robot.
  • controller_BT/AStar.py - GitHub A* algorith code
  • controller_BT/RRT_Planner.py - GitHub RRT Algorithm code
  • controller_BT/controller_BT.py - GitHub Main behaviour controller for autonomous operation
  • controller_BT/mapping_leaf.py - GitHub Mapping node for mapping and storing the environment
  • controller_BT/navigation_leaf.py - GitHub Navigation node for waypoint following
  • controller_BT/planning_leaf.py - GitHub Planning leaf for trajectory generation