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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.
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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.
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## Dependencies
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Version numbers are those used during this project, higher versions likely supported too.
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* For simulation: MATLAB 2021b or above with the following toolboxes:
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* Image Processing Toolbox
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* Instrument Control Toolbox
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* Parallel Computing Toolbox
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* Phased Array System Toolbox
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* DSP System Toolbox
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* Signal Processing Toolbox
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* Statistics and Machine Learning Toolbox
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* Navigation Toolbox (for Rosbag data parsing scripts)
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* Python 3.6 with the following modules:
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* multiprocessing-logging
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* numpy
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* scipy
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* [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.
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## Publication
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This work is described in more detail in the following publication:
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```
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