Intellibot Autonomous Navigation

Intellibot is a high-fidelity autonomous mobile robot simulator featuring a service-oriented architecture, advanced path planning algorithms, and a futuristic "Command Center" dashboard. It simulates a differential drive robot with realistic physics, LIDAR sensor fusion, dynamic costmap generation, and automated recovery behaviors similar to professional ROS (Robot Operating System) navigation stacks.

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🌟 Key Features

🧠 Professional Navigation Stack

• Global Planner: Uses A Algorithm* combined with Costmap Inflation. Walls emit a "high cost" field, forcing the robot to plan paths that naturally curve around obstacles rather than hugging edges.
• Path Smoothing: Implements B-Spline interpolation (scipy) to convert jagged grid movements into organic, curved trajectories.
• Local Controller: Features a Pure Pursuit controller with dynamic lookahead for smooth path following.
• Dynamic Re-planning: Real-time obstacle detection via LIDAR triggers immediate path recalculation.

🛡️ Deep Recovery Behaviors

Unlike basic simulators, Intellibot V5 features a robust state machine for handling "stuck" scenarios (e.g., getting trapped in a corner):

1. Stuck Detection: Monitors velocity vs. positional change over time.
2. J-Turn Maneuver: Executes a high-speed reverse followed by a distinct rotation to reorient sensors and break free from local minima.
3. Map Cleansing: Forces a global map update and a brand new plan after recovery.

🔋 Energy Management

• Battery Physics: Simulated drain based on motor usage and idle CPU load.
• Auto-Docking: One-click autonomous navigation to the nearest charging station.
• Charging Zones: Visual detection (Green Zones) and automatic charging state switching.

🖥️ Command Center UI

• Real-time Telemetry: Sparkline graphs for Velocity and Battery levels.
• Sensor Fusion Display: Raw LIDAR point cloud visualization (Radar Scope).
• Interactive Map: Click-to-nav, Fog of War (walls), and real-time raycasting visuals.
• Console Logging: Scrolling terminal for system events and debugging.

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🛠️ Architecture

The system follows a decoupled Client-Server model running asynchronously within a single Python process:

1. Backend (FastAPI & Uvicorn):
   • Environment Service: Manages the grid, static walls, and dynamic obstacles.
   • Planner Service: Handles A* logic and B-Spline interpolation.
   • Robot Entity: Simulates physics (inertia, kinematics) and control loops.
2. Communication Layer:
   • WebSockets: Streams high-frequency telemetry (60Hz) to the UI.
   • REST API: Handles transactional commands (Set Goal, Manual Override).
3. Frontend (CustomTkinter):
   • Renders the visual state, graphs, and captures user input.

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🚀 Installation

Prerequisites

• Python 3.9 or higher.

Dependencies

Install the required packages using pip:

pip install fastapi uvicorn numpy requests websockets customtkinter pydantic scipy pyinstaller

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🕹️ Usage

Running from Source

1. Navigate to the project directory.
2. Run the main script:

   python robotics.py

Controls

• Set Navigation Goal: Left-Click anywhere on the black map area. The robot will plan a curved path and execute it.
• Auto-Dock: Click the "RETURN TO DOCK" button. The robot will find the closest charger (Green Zones) and navigate there.
• Manual Override: Use the On-Screen Arrow Pad to take control.
  • Note: Manual input disables autonomous mode immediately.

Interpreting the UI

• Cyan Line: The calculated B-Spline path.
• Red Rays: LIDAR rays hitting an obstacle.
• Green Zones: Charging stations.
• Radar (Bottom Right): Top-down raw sensor view relative to the robot.

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📦 Building a Windows Executable

To create a standalone .exe file that runs without Python installed, use PyInstaller.

Important: We must use the --collect-all flag to ensure customtkinter theme assets are packaged correctly.

1. Open your terminal/command prompt.
2. Run the following command:

pyinstaller --noconsole --onefile --collect-all customtkinter --name IntellibotV5 intellibot.py

3. Once finished, check the dist/ folder for Intellibot.exe.

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📝 Configuration

You can tweak the physics and behavior in the Config class at the top of the intellibot_pro_v5.py file:

class Config:
    MAX_LIN_VEL = 2.2       # Max Speed
    INERTIA = 0.85          # 0.0 (Instant) to 0.99 (Heavy Slide)
    INFLATION_RADIUS = 2.5  # Safety distance cost around walls
    LIDAR_RAYS = 72         # Sensor resolution
    REPLAN_TRIGGER_DIST = 3.5 # Distance to detect obstacles ahead
    # ...

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📄 License

This project is licensed under the MIT License.

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Developed for the Intellibot Project. Precision Robotics & Autonomous Systems Simulation.