This app is my End-of-Degree Project (EDP) for my Bachelor's Degree in Informatics Engineering @University of the Basque Country.
The aim of this project is to develop an Android application that will be integrated into the GidaBot navigation system, developed by the RSAIT research group. Through this navigation system developed by RSAIT, robots that act as guides take users to a specific destination in a building.
In the current state of affairs, when any robot in the GidaBot system completes a guidance service, it always stops at the end goal. Consequently, if another user wants to use the robot, they will have to look for the robot. Therefore, a possible solution to this problem is that, at the end of the guiding work, the robots move to specific points, so that users can find the robots more easily. On the other hand, another option, and precisely the one presented in this EDP, is for the user to indicate their location to the robot, and for the robot to approach the user to finally drive him to his destination.
In this sense, the application designed in this EDP and that will deal with this problem has been called GidaBotApp.
GidaBot is an application designed to set up and run a heterogeneous team of robots to act as tour guides in multi-floor buildings. Although the tours can go through several floors, robots are not allowed to use the lift, and thus, each guiding task requires collaboration among several robots, one per floor. The designed system makes use of a robust inter-robot communication strategy to share goals and paths during the guiding tasks. A user-friendly GUI helps untrained users or new visitors to easily choose target locations or define a list of locations to be visited sequentially. A prototype has been implemented using ROS, and the system robustness has been tested in a Gazebo-based simulated robot/environment and using real robots at the Faculty of Informatics in San Sebastian. The whole application is available together with a simulated world so that the system functioning can be checked further.
- Built over MVVM Architecture
- It uses
rosjava_corepackage to perform ROS<->Android communication - It uses
android_corepackage'sRosActivityclass to establish connection with ROS Master - Multifloor navigation
- Material Design graphical interface
- Shows every robot's position in a map (built over GoogleMap)
This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or any later version.