WMR Robot Architecture: Planning and Navigation (Urban Autonomous Navigation Robot)

This assignment is focused on wheeled mobile robot architecture design (Hierarchical paradigm), deterministic routes planning while environmental mapping, multi-robot collaborative industrial mapping and autonomous navigation in different scenarios. In this work, one of the experimental simulations is highlighted by a mobile robot for autonomous navigation in a city.

This subject's topic focused on a study about the Hierarchical Paradigm in terms of the three robotic primitives: sense, plan and act. We evaluated architecture modularity support (C++ OOP) and robustness, targetability and portability easiness to multiple application domains. Some concepts were studied in depth such as: world model, preconditions, axioms, predicates, closed/open world assumption, sensing models (odometers, LiDARs, sonars, visual device), data registration, fusion model, mission planner, navigator (differential equations), pilot organization and closed loop of the Hierarchical Controller.

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