Webots-Based Implementation and Simulation of Robotics Algorithms

Abstract

In the vast realm of robotics, the implementation of different behaviours relies on sophisticated and well-stablished techniques. This project will embark on the review, implementation, and simulation of various algorithms and techniques used in general robotics. The main focus of the project will be the simulation, analysis, and validation of these, using the Webots open-source software. More specifically, the project will focus on the development of navigation algorithms like trajectory following (Pure Pursuit), sensor-based approaches like Bug algorithms or Artificial Potential Fields (APF), as well as map-based navigation including Grassfire, Dijkstra, and A*. These last algorithms will be supported by map generation techniques such as Probabilistic Roadmaps generation or RRT (Rapidly Exploring Random Trees) algorithms. By employing a professional simulation software like Webots, this endeavour seeks to explore a platform for in-depth examination and experimentation on robotics algorithms. This work does not aim to develop or research into new or innovative solution, as it’s mainly focused onto reviewing and acquiring a greater understanding of these kind of technologies, widely demanded on the actual context of implementing automation and robotics in nearly any field.