2022 IB Diploma Extended Essays

Software:

The software is written in Ubuntu 20.04 and ROS Foxy, these were chosen as the foundation for the reduction of complexity as they have large open source projects easily available such as ROS. Most robotics code is normally written in Ubuntu. Robot Model: Kinematic Model – Ackerman steering

The robot is in accordance to the Ackerman Steering model. It is used as the motion model for this investigation as it is the same model used within AGV’s. URDF model The robot was designed as a URDF model for easy of simplification coordinate transformation and visual understanding of the robot. The URDF model for the robot is presented below: