Major Project

Instructions

1. Attach all software files at the end.

2. Provide snapshots of the software related simulations in a pdf format.
3. Utilise dimensions and measurements from the minor project given to
you all.
4. This project judges you on the basis of your creative as well as technical
skills, therefore, we recommend you to explore this topic in depth from
your side too, so as to make this project worthwhile.

Spot robots are sophisticated, adaptable mobile robots that can find
their way around challenging situations. This project uses the well-known
Robot Operating System 2 (ROS 2) to expose novices to the field of
robotics and autonomous navigation. As part of the project, a
four-legged robot called Spot will be constructed of a chassis, wheels,
and motors. Sensors for obstacle detection will be integrated, and the
robot will be programmed to navigate autonomously and avoid
obstacles.

This project's goal is to use ROS 2 to build an autonomous mobile robot

that can navigate a controlled environment and avoid obstacles. In order
to recognise and avoid obstacles, the robot will be constructed with a
four-legged chassis, wheels, motors, and sensors (either infrared or
ultrasonic).

Components of the Project

1. Design of Robot

● Create a four-legged Spot robot by assembling the right wheels,

motors, and chassis.
● For obstacle detection, incorporate sensors into the robot. A wide
field of vision should be provided by carefully placing these sensors.
2. Robot Guidance

Configure the robot with a control system that enables it to travel in

all directions, turn, and change its pace.

3. Integration of Sensors

Connect and set up the robot's microcontroller or single-board

computer (such as a Raspberry Pi)

4. Integration of ROS 2:

● Create ROS 2 packages for your robot and set up a ROS 2

workspace.
● Utilise ROS 2 to direct and observe the actions of the robot.

5. Identifying and Avoiding Obstacles:

● Use algorithms to analyse sensor data and identify potential

roadblocks for the robot.
● Use obstacle avoidance techniques.