| ... | ... | @@ -2,6 +2,24 @@ |
|
|
|
A subsumption layered control system for a mobile platform featuring collision avoidance, object avoidance and corridor following for multiple real-time processed RTIS sensors for usage in the RTIS Network software framework.
|
|
|
|
The controller also has a full simulation in MATLAB. This can be found in the *Matlab Simulator* folder. The Python-based controller can be connected to the MATLAB simulator for testing where the simulator takes care of world, robot and sensor simulation.
|
|
|
|
|
|
|
|
## Dependencies
|
|
|
|
Version numbers are those used during this project, higher versions likely supported too.
|
|
|
|
* For simulation: MATLAB 2021b or above with the following toolboxes:
|
|
|
|
* Image Processing Toolbox
|
|
|
|
* Instrument Control Toolbox
|
|
|
|
* Parallel Computing Toolbox
|
|
|
|
* Phased Array System Toolbox
|
|
|
|
* DSP System Toolbox
|
|
|
|
* Signal Processing Toolbox
|
|
|
|
* Statistics and Machine Learning Toolbox
|
|
|
|
* Navigation Toolbox (for Rosbag data parsing scripts)
|
|
|
|
* Python 3.6 with the following modules:
|
|
|
|
* multiprocessing-logging
|
|
|
|
* numpy
|
|
|
|
* scipy
|
|
|
|
* [RTIS Network](https://cosysgit.uantwerpen.be/rtis-software/rtisnetwork "RTIS Network") when using a real mobile platform and real RTIS sensors. Supported RTIS Network version: v2.13.0 and above.
|
|
|
|
|
|
|
|
|
|
|
|
## Publication
|
|
|
|
This work is described in more detail in the following publication:
|
|
|
|
```
|
| ... | ... | @@ -13,11 +31,32 @@ https://www.researchgate.net/publication/357601135_Adaptive_Acoustic_Flow-Based_ |
|
|
|
https://ieeexplore.ieee.org/document/9662596/
|
|
|
|
```
|
|
|
|
|
|
|
|
and
|
|
|
|
|
|
|
|
```
|
|
|
|
Title: Real-Time Sonar Fusion for Layered Navigation Controller.
|
|
|
|
Authors: Jansen, Wouter & Laurijssen, Dennis & Steckel, Jan.
|
|
|
|
Journal: MDPI Sensors 2022, Special Issue Advances in Indoor Positioning and Indoor Navigation****
|
|
|
|
DOI: https://doi.org/10.3390/s22093109
|
|
|
|
https://www.researchgate.net/publication/360034002_Real-Time_Sonar_Fusion_for_Layered_Navigation_Controller
|
|
|
|
https://www.mdpi.com/1424-8220/22/9/3109
|
|
|
|
```
|
|
|
|
|
|
|
|
## Usage
|
|
|
|
|
|
|
|
### Installation
|
|
|
|
When you clone this repository you likely will need to manually update the gitmodules to get the right version of RTIS Common.
|
|
|
|
For example:
|
|
|
|
```
|
|
|
|
git clone https://cosysgit.uantwerpen.be/rtis-software/rtisrobotcontroller.git
|
|
|
|
cd rtisrobotcontroller
|
|
|
|
git submodule init
|
|
|
|
git submodule update
|
|
|
|
```
|
|
|
|
|
|
|
|
### Python Controller
|
|
|
|
The Python implementation of the controller can be used in the RTIS Network software framework or with the Matlab Simulation framework.
|
|
|
|
For usage and setup of the eRTIS Network see [here](https://cosysgit.uantwerpen.be/rtis-software/rtisnetwork "RTIS Network Git repository").
|
|
|
|
For usage and setup of the eRTIS Network see [here](hhttps://cosysgit.uantwerpen.be/rtis-software/rtisnetwork "RTIS Network Git repository").
|
|
|
|
|
|
|
|
The main script is [RTISRobotController.py](Python/RTISRobotController.py).
|
|
|
|
There are a few launch arguments that you likely need to use to correctly configure the script to work.
|
| ... | ... | |
