Autonomous Search With AI

About The Project

UCF Senior Design Project - Sponsored by Lockheed Martin

An autonomous robot that uses YOLOv3 object detection and SLAM pathfinding to locate and identify a bb8 unit

Built With

• ROS
• Gazebo
• YOLOv3
• SLAM
• LabelImg

Getting Started

Installation

1. Create an Ubuntu 20.04 LTS VM

2. Install ROS-Noetic & Dependencies

sudo apt-get update
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install git
sudo apt-get install ros-noetic-desktop-full
sudo apt-get install ros-noetic-turtlebot3-*
source /opt/ros/noetic/setup.bash
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/catkin_ws/src/gazebo_models_worlds_collection/models" >> ~/.bashrc
echo "export TURTLEBOT3_MODEL=waffle" >> ~/.bashrc

CLOSE AND RE-OPEN TERMINAL

sudo rosdep init
rosdep update

3. Create Simulation Workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash

4. Get ROS Packages

cd ~/catkin_ws/src
git clone https://github.com/chaolmu/gazebo_models_worlds_collection.git
git clone https://github.com/patrick1bauer/autonomous_search_with_ai.git
git clone https://github.com/Tossy0423/darknet_ros.git
cd ~/catkin_ws
catkin_make
source devel/setup.bash

Usage

Terminal #1: Launch the simulation

roslaunch autonomous_search_with_ai start.launch

Terminal #2: Spawn the bb8 unit

roslaunch autonomous_search_with_ai start_bb8.launch

Terminal #3: Start the turtlebot3 navigation

rosrun autonomous_search_with_ai turtlebot3_navigation.launch

Terminal #4: Start the object detection

roslaunch autonomous_search_with_ai yolo_v3.launch

Terminal #5: Start the autonomous turtlebot3

cd ~/catkin_ws/src/autonomous_search_with_ai/src
python3 waypoints.py

Common Issues

If ros commands are not recognized, you might have to source ros whenever you open a new terminal.

source /opt/ros/noetic/setup.bash

Did you build the catkin workspace and source the setup.bash files? If you did not modify the ~/.bashrc file to source the setup.bash files for each new terminal, you have to manually source them!

cd ~/catkin_ws
catkin_make
source devel/setup.bash

Roadmap

See the open issues for a list of proposed features (and known issues).

Contributing

Contributions are what make the open source community such an amazing place to be learn, inspire, and create. Any contributions you make are greatly appreciated.

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
3. Commit your Changes (git commit -m 'Add some AmazingFeature')
4. Push to the Branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

Authors

Patrick Bauer - Team Lead / Simulation Environment / Navigation - patrick1bauer@gmail.com

Pablo Trivino - Object Detection / Robot Sensors

Mark Pedroso - Object Detection / AI Training

Noah Avizemer - Simulation Environment / Mapping

Nathanel Casagnol - Navigation

License

GPLv3