Simulating an Obstacle Avoidance Robot Using Python | From Scratch 

i hope you enjoyed this , don't forget to leave a like if you did. 😊😊 🗃️ source code : ko-fi.com/s/1a38e1563b

Real Ultrasonics sensors has few additional parameters 1) typical sampling frequency is 50Hz so they won't update in real time. If robot moves with speed 1m/s toward wall, it moves 2cm before update. It's even more significant during rotation. 2) ultasonic sensors has high noise. Usually +/- 2cm for cheap one with 250cm range. 3) They can have issue... Same model of US usually works on same frequency = you has to trigger sensors one by one because they interfere with each other.

If you did all right and still having and error try this: "File" -> "Invalidate Caches / Restart" -> "Invalidate and Restart". This restart the old cache and validates the added modules like: import pygame etc...

Nice work! Your tutorial is informative and creates an easy to follow simulation of using an ultrasonic sensor for obstacle avoidance. It would be excellent if you could extend this tutorial and expand on sensor based motion planning, such as by combining this simulation with your RRT tutorial.

Man, you forgot uploading the 2nd part of lane detection. Have been waiting for 5 months 😂😂😂👍🤐

Thanks alot sir for the information. I learnt a lot from the SLAM Lecture series. Please you indicated as part of the series extended kalman filter. Please I have been waiting for that tutorial. I really need to see your perspective and implementation of the filter as I have so many unanswered questions, which I hope I will get the answers from the tutorial. Thanks for the great video. They really changed my perspective of what I thought I knew before

Nice tutorial

ROBOT.py----> import pygame import math import numpy as np def distance(point1,point2): point1 = np.array(point1) point2 = np.array(point2) return np.linalg.norm(point1- point2) class Robot: def __init__(self, startpos,width): self.m2p= 3779.52 #from meters to pixels #robot dims self.w = width self.x= startpos[0] self.y = startpos[1] self.heading =0 self.vl = 0.01*self.m2p #meters/s self.vr = 0.01*self.m2p self.maxspeed = 0.02*self.m2p self.minspeed = 0.01*self.m2p self.min_obs_dist = 100 self.count_down = 5 #seconds def avoid_obstacle(self,point_cloud,dt): closest_obs = None dist = np.inf if len(point_cloud) > 1: for point in point_cloud: if dist > distance([self.x, self.y], point): dist = distance([self.x,self.y], point) closest_obs = (point,dist) if closest_obs[1] < self.min_obs_dist and self.count_down > 0: self.count_down -= dt self.move_backward() else: #reset count down self.count_down = 5 #move forward self.move_forward() def move_backward(self): self.vr = - self.minspeed self.vl = - self.minspeed/2 def move_forward(self): self.vr = self.minspeed self.vl = self.minspeed def kinematics(self, dt): self.x += ((self.vl+self.vr)/2) * math.cos(self.heading) * dt self.y -= ((self.vl+self.vr)/2) * math.sin(self.heading) * dt self.heading += (self.vr - self.vl) / self.w * dt if self.heading>2*math.pi or self.heading import math import pygame from ROBOT import Graphics, Robot, Ultrasonic MAP_DIMENSIONS = (600, 1200) #the environment graphics gfx = Graphics(MAP_DIMENSIONS, 'D:\college\internship\INTERNSHIP TASK\obstacle detection\images\DDR.png', 'D:\college\internship\INTERNSHIP TASK\obstacle detection\images\Obstacle.png') #the robot start = (200, 200) robot = Robot(start, 0.01*3779.52) #the sensor sensor_range = 250, math.radians(40) ultra_sonic = Ultrasonic(sensor_range, gfx.map) dt=0 last_time = pygame.time.get_ticks() running = True #simulation loop while running: for event in pygame.event.get(): if event.type == pygame.QUIT: running = False dt= (pygame.time.get_ticks()-last_time)/1000 last_time = pygame.time.get_ticks() gfx.map.blit(gfx.map_img, (0,0)) robot.kinematics(dt) gfx.draw_robot(robot.x, robot.y, robot.heading) point_cloud = ultra_sonic.sense_obstacles(robot.x, robot.y, robot.heading) robot.avoid_obstacles(point_cloud, dt) gfx.draw_sensor_data(point_cloud) pygame.display.update THANK ME LATER😌

Hey, I replicated the whole code, fixed all the errors, but somehow my robot keeps moving in circles, without sensing any obstacles, or moving in any direction :/

Hi. I followed the code but encountered this error: Graphics() takes no arguments. Any help

Robot's ultrasonic sensor is rotating the opposite direction when robot takes turn. For instance, for the first obstacle (first wall), robot turns around 90 degree clockwise but ultrasonic sensor turns 90 degree anticlockwise which as a result makes the ultrasonic sensor heading towards the backside of robot instead of front side. Please help me to resolve this issue. @Algobotics

Hey,just jumped in here ,Are these series going to to reach a point of really making an autonomous robot? I'm understanding we are only doing simulations and not the actual thing, please clarify for me, would like to follow the series of videos if that's what we are heading to,a real life autonomous robot with slam, thanks.

Can we set a designated point for the robot to find its way there? Thanks u

I have followed the tutorial and i have an error , i don't understand could you help? Traceback (most recent call last): File "main.py", line 10, in gfx = Graphics(MAP_DIMENSIONS, 'DDR.png', 'ObstacleMap.png') File "/home/runner/Wall-Detection/ROBOT.py", line 83, in __init__ self.map.blit(self.map_img, (0,0)) AttributeError: 'Graphics' object has no attribute 'map_img' . Also i am using repl.it .

Algobotics where does self.map.get_at comes from it seems like that don't work in 10:52 the "get_at could'nt" be solved thanks

Great video though am unable to download the image

WHERE DO I GET DDR.PNG','Obstacle.png

what is Vl and Vr?

Robot keeps on going forward through map without detecting any obstacle .. any help !

this is 2d what about 3d space

Horrible

hi bro, amazing content, can i contact you for a small information pleaaaaaaaaase ? i tried to find you on fiver, but couldnt