2022 IB Diploma Extended Essays

can be applied to this investigation. Node API functions utilized in order to construct the ROS nodes for the car-like robot: cmd_vel_to_ackermann_drive – This is used for solving the forward kinematics of the maneuverability of the robot. Robot_description – Universal Robot Description Format (URDF) model of the robot. This is a collection of files that describe the robot physically. Robot_navigation – This is applied for the ROS navigation stack. The navigation stack applies the odemtary, sensor streams and output velocity commands as inputs to send to the mobile base computer. Driver – This refers to all the actuators within the system. teleop_twist_keyboard – Used for teleoperation mode.Sensor-Fusion ROS nodes : Scripts are available in the appendix Robot_Description – Rendering the dimensional model of the car within Rviz sensor_fuse – this allows for fusing data from the different sensors. /sensor_fuse/scripts/ExtendedKalmanFilter/ - The ExtendedKalmanFilter being applied to sensor fusion /sensor_fuse/scripts/ParticleFilter/ - The ParticleFilter being applied to with sensor fusion /sensor_fuse/scripts/ErrorCalculation/- Error calculation processed from data /sensor_fuse/scripts/PlotData/ - data in .txt being converted to graphs. Working autonomous navigation MPU_6050 – This is used for communicating with the IMU sensor. Zed-ros-wrapper – It is used for working with the zed camera sensor.