2022 IB Diploma Extended Essays

Test Environment The test environment maze is constructed below. The 5-turn maze's red line shows the robot's expected path. This also checked for path planning bugs. The maze's border is outlined by 90 degree cardboard.

End Point

Start Point

Path for robot to complete.

Maze Conditions The robot was placed within the maze. The host computer was connected via a SSH line to direct the end goal and send navigation commands. The goal of the robot was to complete it’s path and reach the end point within the scene. The robot repeated the same trial 25 times to gather a sufficient amount of data for evaluation. Architecture The investigation measures to what extent is Sensor Fusion slam to Active Slam Algorithms. As such the LIDAR was used as the main sensor, it also removed a lot of complexity from the investigation as it removes the need for more sensors. The sensor provides information about it’s surrounding scene as it has an active depth sensor (Laser). Based on this a software is needed to be build in and coded to the exact motions of the motors base on the map and pose. The following diagram shows the architecture for SLAM and Path Planning: