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
Getting started
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 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:
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The sensors / motors are connected to the following ports of the robot:
- Motor: OUTPUT A & OUTPUT B
- ColorSensor: INPUT 4
- GyroSensor: INPUT 1
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The following measured values are stored and must be adjusted if necessary (in main.py):
- wheel circumference (radumfang)
- wheel spacing (d)
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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.
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THRESHOLD_LEFT, THRESHOLD_RIGHT: value to detect a left or right turn This value can be changed to possibly improve the algorithm.
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BLOCK_SIZE_DA: number of iterations to analyse the section type This value can be changed to possibly improve the algorithm.
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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.
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Authors and acknowledgment
Jessica Dreyer, Sebastian Böttger
License
Projekt is licensed with MIT. See at LICENSE
Project status
Work in progress