Youbot-RVO

This repository holds the code for enabling YouBots to navigate autonomously in a space populated by other intelligent independent agents (i.e. humans/other robots).

Part of the software is based on the HRVO library developed by the Geometric Algorithms for Modeling, Motion, and Animation group at UNC.

Documentation

The documentation lives in the repository wiki.

The main sections of this repository include:

• PTracking library and its bridge publish real-time human and robot world position/velocity data acquired via Kinect sensors.

• HRVO library and its bridge subscribed to agents position and velocity estimates, publishing control signals for selected agents (In the form of preferred velocity).

• PTracking Wrapper subscribes to the output messages of the PTracking bridge and pre-computes/organises/publishes the data in a proper format for the HRVO and V-REP modules.

• YouBot Wrapper subscribes to the output message of the HRVO bridge and transforms/publishes it into the appropriate control topics for the YouBot robot.

Requirements

On PC:

• ros hydro
• hrvo
• move-base

On Youbot

• ros hydro
• youbot_driver
• youbot_driver_ros_interface

Contributors

Contributors are (in alphabetical order):

• Alejandro Bordallo
• Fabio Previtali
• Federico Boniardi
• Nantas Nardelli
• Subramanian Ramamoorthy