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localization VROB
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Sebastian Böttger
localization VROB
Commits
06e6fbd6
Commit
06e6fbd6
authored
Jun 27, 2023
by
Jessica Dreyer
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# localization VROB
This project deals with the localization of a vehicle on a race track.
This is a student project from Bochum University of Applied Sciences.
Authors:
Jessica Dreyer, Sebastian Böttger
## Name
localization of a vehicle on a race track
## Robot
The used Robot is the LEGO EV3 Brick.
Important notes regarding the robot:
*
The robot has differential drive.
*
The motors / sensors are connected to the following ports of the robot:
*
Motor: OUTPUT A & OUTPUT B
*
ColorSensor: INPUT 4
*
GyroSensor: INPUT 1
## Getting started
How to run MicroPython programs on LEGO EV3:
1.
Download and flash the EV3 MicroPython image onto a micro SD card
2.
Insert the micro SD card into the SD card slot on the EV3 Brick
3.
Download, install, and launch Visual Studio Code on your computer
4.
Install and activate the LEGO Education EV3 extension
5.
Connect the EV3 Brick
The following Python-packages must be installed on the computer to run the algorithm:
*
numpy
*
pandas
*
matplotlib
*
tkinter
*
socket
*
datetime
## Description
The main branch contains the following files:
*
localization.py: localization algorithm
*
driving.py: detection of section type, calculation of odometry, calculation driven distance in section
...
...
@@ -14,21 +39,10 @@ The main branch contains the following files:
*
race_management.py: main program
*
Lokalisierung_LEGO (folder), main.py: programming of the robot LEGO EV3
## Name
localization of a vehicle on a race track
## Description
The following adjustments might be necessary, before the algorithm is executable:
*
change ip-address in main.py
*
entering the route in localization.py (get_set_of_section_
*
())
Important notes regarding the robot:
*
The motors / sensors are connected to the following ports of the robot:
*
Motor: OUTPUT A & OUTPUT B
*
ColorSensor: INPUT 4
*
GyroSensor: INPUT 1
*
The following measured values are stored and must be adjusted if necessary (in main.py):
*
wheel circumference (radumfang)
*
wheel spacing (d)
...
...
@@ -36,13 +50,10 @@ Important notes regarding the robot:
Notes on constant values (in race_management.py):
*
CHAR_RECIVING: number of chars in one UDP-message
**This value should only be changed if the sent string changes.**
*
THRESHOLD_LEFT, THRESHOLD_RIGHT: value to detect a left or right turn
**These values can be changed to possibly improve the algorithm.**
*
BLOCK_SIZE_DA: number of iterations to analyse the section type
**This value can be changed to possibly improve the algorithm.**
*
S = 0, R = 1, L = 2: value for a straight part, a right turn, a left turn of the track
**These values should not be changed in order to maintain the functionality of the algorithm.**
...
...
@@ -50,8 +61,8 @@ Notes on constant values (in race_management.py):
Jessica Dreyer, Sebastian Böttger
## License
Proje
k
t is licensed with MIT.
Proje
c
t is licensed with MIT.
See at LICENSE
## Project status
Work in progress
\ No newline at end of file
Work in progress.
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