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This repository is used for assignments for various learning modules of ROS. All assignments and projects are physically implemented on TurtleBot3 Burger.

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vipulkumbhar/AuE893_Autonomy_Science_and_Systems

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AuE893: Autonomy Science and System

This repository contains the code and assets for Clemson Univeristy course AuE893: Autonomy Science and System for Spring 2020 semester.

Team Name: TMNT (Teenage Mutant Ninja Turtles)

Team Number: 03

Team Members:

	Akshay Mahajan 
	Ashit Mohanty  
	Manu Srivastava  
	Siddesh Bagkar  
	Vipul Kumbhar  

HW2 TurtleSim basic maneuvers

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HW3 TurtleBot3 basic maneuvers and emergency braking

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HW4 TurtleBot3 wall follower and obstacle avoidance, simulation and physical implementation

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Watch the video

HW5 Part 1: Lane detection by camera and lane following by turtlebot3

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Watch the video

Watch the video

HW5 Part 2: April tag detection and follower

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Watch the video

Final project is made up of main 5 maneuvers.

Wall follower - Turtlebot maintains predefined distance from right-side wall. Proportional controller based on distance from right-side wall is used to control z-angular velocity.

Obstacle avoidance - Turtlebot maintains safe front distance from obstacle and maneuvers through course until it finds yellow lanes.

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lane follower - Turtlebot follows yellow lane using image-processing (to detect lane center) and proportional controller to control z-angular velocity.

Traffic sign detection - Darknet package is used for traffic sign detection. Traffic sign callback functions stop the turtlebot for 4 seconds.

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People / leg tracker - People tracker package is used for leg detection. Proportional controller is to control z-angular velocity to guide tutrlebot towards nearest detected leg. If leg is not detected or lost, turtlebot goes into obstacle avoidance mode.

Watch the video