Dynamic Obstacle Avoidance System for CoroBot Mobile Robot

Dynamic Obstacle Avoidance System for CoroBot Mobile Robot

Corobot Classic 2WD is a customizable UGV robot, designed to lower the cost and minimize the complexity of robotic development. Corobots uses USB based sensors and actuators (Phidgets) and USB based LIDAR sensor. It has lot of application programs developed using Phython-ROS. This project attempts to develop MATLAB programs for Corobot mobile robots.
This projects aims to develop a dynamic obstacle avoidance program using MATLAB for Corobot. It uses LIDAR sensor to scan the environment to determine the nearby obstacles. The detected obstacles are positioned into left, right and straight with respect to the robot. Once the position of the obstacles is determined, the robot wheels are actuated to create movement and to avoid obstacles. As the robot is set to operate in skid-steer mode (either linear or rotation motion) , the robot tends to move straight if no obstacles are present and rotates if there is an obstacle in any one position and moves backwards if all the positions have obstacles.
Please refer the video demonstration of the project: (https://www.youtube.com/watch?v=17ccmCvxxiI)
Hardware Requirements:
1. CoroBot Classic 2WD (Ref: http://www.sastrarobotics.com/products/corobot/)
Software Requirements:
1. Phidget Interface for MATLAB (Ref: http://www.phidgets.com/downloads/examples/Matlab.zip
2. Hokuyo URG-04LX LIDAR Driver for MATLAB (Ref: http://in.mathworks.com/matlabcentral/fileexchange/36700-hokuyo-urg-04lx-lidar-driver-for-matlab)