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localization VROB
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Sebastian Böttger
localization VROB
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e65625d0
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e65625d0
authored
Jun 27, 2023
by
Jessica Dreyer
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# localization VROB
This project
s
deals with the localization of a
race car
on
the
race trac
e.
This is a student
s
project from
the
Bochum University of Applied Sciences.
Author:
This project deals with the localization of a
vehicle
on
a
race trac
k.
This is a student project from Bochum University of Applied Sciences.
Author
s
:
Jessica Dreyer, Sebastian Böttger
## Getting started
The main branch contains
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
> grafic.py: graphical output
> race_management.py: main program
> Lokalisierung_LEGO (folder), main.py: programming of the robot LEGO EV3
## Name
localization of a
race car on the
race trac
e
localization of a
vehicle on a
race trac
k
## Description
This projects deals with the localization of a race car on the race trace.
This is a students project from the Bochum University of Applied Sciences.
Currently the project is in development.
Till the development is finished, the branch and the readme will be updatet.
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_*())
## Installation
## Usage
Important notes regarding the robot:
The sensors / motors are connected to the following ports of the robot:
> Motor: OUTPUT A & OUTPUT B
> ColorSensor: INPUT 4
> GyroSensor: INPUT 1
## Support
The following measured values are stored and must be adjusted if necessary (in main.py):
> wheel circumference (radumfang)
> wheel spacing (d)
## Roadmap
Development of a solution
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.
## Contributing
> THRESHOLD_LEFT, THRESHOLD_RIGHT: value to detect a left or right turn
This value 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: value for a straight part of the track
> R = 1: value for a right turn
> L = 2: value for a left turn
This values should not be changed in order to maintain the algorithm.
## Authors and acknowledgment
Jessica Dreyer, Sebastian Böttger
## License
Projekt is licene
n
d with MIT.
Projekt is licen
s
ed with MIT.
See at LICENSE
## Project status
...
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