sixth-sense

description

• Simple and robust real-time navigation for a noisy differential-drive agent with LIDAR in unknown static environment.
• Given a differential drive robot with a laser scanner in an static unknown 2D environment, the goal is to
  1. Create a map of the obstacles in the environment leaving no area unexplored.
  2. Simultaneously localize and map the landmarks in the environment.
  3. Not collide with any obstacles while doing so.

roadmap

• Problems solved until now are documented in report.pdf

code

• Code is written in Kotlin with Java libraries. Kotlin and Java compilers are required.
  • src/ contains all source code.
  • jars/ contain all libraries bundled as jars.
    • processing is used as a rendering library.
    • queasy cam is used as a camera library.
    • emjl is used as a linear algebra library.
  • data/ contains resources such as images, obj, mtl files.
• JRE 8 is the best as "processing" library recommends it

documentation

• For most of the code, the documentation is itself.

usage

• Open a terminal at project root (the directory containing this file).
• For compilation
  • kotlinc -classpath "$(find jars/ -name "*.jar" | paste -sd ":" -)" $(find -name "*.kt") $(find -name "*.java") -include-runtime -d sixthsense.jar
  • javac -cp "jars/*" -d build/ $(find -name "*.java")
• To run a simulation
  • java -cp "build/:jars/*:jars/ejml-v0.39-libs/*:sixth-sense.jar" <package>.<classname>Kt
  • Notice the suffix Kt after class name
  • For example java -cp "build/:jars/*:jars/ejml-v0.39-libs/*:sixthsense.jar" MainKt
• Common controls
  • w a s d for basic camera movements.
  • q e for camera up and down movements.
  • p for pause/play.
• Tested on Ubuntu 18.04
  • If you use a distrubution that uses rolling release cycle (like Arch) you might have to install some older version of JRE and mesa (opensource intel openGL driver) that work with processing library.

demonstration

The following video illustrates important aspects and the system in general.