Project 2: Navigation

For this project, you may program an iRobot Create3 robot using ROS2 nodes to do anything you like, subject to the following constraints:

• The robot’s task must lend itself naturally to using one or more of the key ideas from this unit:
  • Q-Learning
  • HTN Planning
  • SLAM
• It follows from this that the robot’s task must involve navigating from one location to another, making use of non-local state to inform the navigational decision.
• The reasons for the robot to travel between locations are up to you. Here are some types of reasons:
  • Human input:
    • Pushing one of the interface buttons on the robot.
    • Commands sent via curses keystrokes.
  • Environmental input:
    • Encountering an object that is not on the map.
• The robot’s actions during the navigation phase should not be arbitrary - they should be in the context of completing one or more useful tasks.