Ryan
Otsuka

A junior Computer science Student at Georgia Institute of Technology
Ready to pursue real-world challenges and explore ways to support the universe

August 2023 - December 2023

Warehouse Simulation:
Python Project

Implementing a frontier-based exploration and a marker collection stage with a callibrated PID controller

Warehouse Simulation Frontier Exploration:

This project was split into 2 parts. The first was a frontier-based exploration process where the robot tries to explore its suroundings to find markers. In real life, the markers would have been packages. The robot uses RRT and a frontier calculation to explore unexplored cells until all of the markers have been found

Warehouse Simulation Marker Collection:

In the second part of the project, the robot has full knowledge of the markers from the previous part. To collect a marker, the robot travels to the marker and needs to have a specific orientation in order to be able to pick up the marker. The algorithm takes the closest marker and utilizes RRT to path plan around obstacles and collect markers. It iterates through the markers until all markers are collected.

Skills

  • Python
  • Frontier-planning
  • Path Planning
  • RRT