Schedule.md

Schedule

Target

• Build a multi-robot planning and control algorithm framework.
• Realize centralized or distributed simulation control of multiple robots.

Architecture

Centralized

TBD

Distributed

• Each robot has an independent perception, planning, and control pipeline.

• The inputs are the target position and the odometer.

• The outputs are the control inputs.

• Odometer

  • Use gazebo's ground-truth. The /odom topic published by libgazebo_ros_diff_drive. Transform from map to robotx/odom. By tf_map2odom.py
  • Use amcl in a locatable environment, which will introduce static obstacles. [P1]
    • Remember to disable the tf_map2odom, because amcl will publish one.

• Global planner

  • Output a one-point path as the result.
  • Goal publisher script.

• Local planner [P0]

  • Subscribe to others' odom.
    • Transfer agent_num and agent_id from start_robots.launch.xml to move_base.launch.xml.
  • Calculate new velocities and publish them.
  • Fine-tune the parameters.
  • Goal reached check.

• Bugs

  • Wrong scan topic name in move_base.