Autonomous Algorithms

This repository contains a collection of algorithms designed to enable SWEEP, an autonomous beach cleaning robot to efficiently cover areas, navigate from goal to goal, and avoid obstacles during its cleaning operations.

Contents

Area Coverage Algorithm
Goal-to-Goal Algorithm
Obstacle Avoidance Algorithm

Area Coverage Algorithm

The Area Coverage Algorithm efficiently covers the maximum area using GPS coordinates. It maps the designated area into a 2D plane utilizing advanced mathematical logic and formulas. This algorithm ensures that SWEEP optimally cleans large areas of the beach, maximizing its cleaning efficiency.

Goal-to-Goal Algorithm

The Goal-to-Goal Algorithm facilitates the traversal of SWEEP from one location to another. It incorporates orientation and goal-to-goal movement, enabling the robot to navigate across the beach with precision. This algorithm ensures that SWEEP reaches its designated cleaning areas effectively and reliably.

Obstacle Avoidance Algorithm

The Obstacle Avoidance Algorithm ensures that SWEEP can avoid obstacles encountered during its cleaning operations. By utilizing SONAR sensors, the algorithm detects obstacles in the robot's path and dynamically adjusts its trajectory to navigate around them safely. This capability enables SWEEP to operate autonomously in complex beach environments without compromising its cleaning performance.