I bought Zed2i for a competition, in which I need to let the robot complete automatic movement.
The site structure is relatively simple, consisting of a floor and some obstacles. There will be visual labels on the wall, but several other robots will move at the same time.
I only know the initial position of the robot, the position of some visual labels (which may have some errors), and the floor plan of the site.
I can’t put the equipment into a real site for operation in advance, so I think I need to use SLAM and other related technologies to complete the path planning.
About SLAM:
I wonder if there is a path planning code based on ZED camera for reference?
About path planning:
- Can knowing the approximate site structure in advance help path planning?
- Although there are no obstacles in some places, they are not accessible in terms of requirements. Is there any way to set them?
What I have done:
I know how to use the ZED camera for position tracking, and have written a visual label related algorithm for relocation. I have written a simple A * algorithm for path planning (based on site drawings, sampling at fixed intervals, and obstacles expanding according to robot volume. Other robots can be identified and affect path planning.)