As my first course on exploring the autonomy stack (AA274 Principles of Robotic Autonomy) our team developed a ROS based autonomy stack for a food delivery bot which was given the following tasks:
- Explore the unknown environment
- Follow rules – road signs, detect objects
- Map the region
- Return to homebase for order
- Place order for list of objects
- Complete delivery request
- The solution we developed had the following implementations for each part of the autonomy stack:
| Module | Algorithm |
|---|---|
| Control | Optimal Control |
| Motion Planning | A* |
| SLAM | EKF/PF using LiDaR |
| Perception | YOLO based detector |