Autonav

Autonav is a multi-robot control system developed to simplify operator interaction by using autonomous navigation and a simplified control model. This project is designed to operate with multiple TurtleBot3 robots but can be adapted to work with other robots with minimal adjustments.

Project Purpose

Autonav focuses on:

• Reducing operator interaction time through autonomous navigation.
• Facilitating control of multiple robots with an intuitive interface and simplified commands, recognized by hand point tracking.

Requirements

To run Autonav, the following components are needed:

• ROS (recommended: Noetic)
• Rviz (for visualization and interface with the robots)
• Gazebo (for simulation)
• Mediapipe (for hand point recognition, used to generate navigation commands)

Project Structure

The project follows the structure of a ROS package, with:

• scripts: main code for the control system and commands.
• launch: launch files to initialize the environment and robots.
• worlds: files to configure simulation environments.

Test Results

The test results are available in the results folder. Note: the project has not yet been tested in a real-world environment.

Execution Instructions

To run the project, follow these steps:

1. Run the multi-robot environment launch file:

   roslaunch autonav environment_multiple_robots.launch

2. In another terminal, start the control system:

   roslaunch autonav autonav.launch

   Alternatively, you can use the command below to run both in a single terminal:

   roslaunch autonav main.launch