In our latest video demonstration (above), we showcased the robot's ability to navigate to a predetermined waypoint, specifically its home base, using our custom interface. This feature plays a crucial role in our project, especially in tasks such as targeted cleaning. For instance, we can command the robot to clean designated areas by cycling through pre-saved waypoints with the press of a "clean room" button. Upon encountering toys, the robot will automatically engage in cleaning these items. Our approach to navigation primarily relies on planned movements, allowing the robot to follow a predefined path to locate toys effectively. We have also considered the robot's orientation at these waypoints, ensuring it always faces a specific direction. This strategic positioning, combined with the use of the robot's camera, significantly enhances its ability to detect toys, facilitating precise and deterministic navigation.
Our strategic approach to navigation, highlighted by careful planning and execution, solidifies our choice to integrate a comprehensive navigation strategy. This includes the use of global mapping and localization techniques, paired with detailed planning. To enhance this strategy, we're incorporating local servoing techniques to adjust the robot's positioning with precision. This meticulous attention to the robot's orientation and path planning significantly boosts task accuracy and efficiency.Â