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lokalisierung-vrob

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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

    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:

    • 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)

    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.

    Authors and acknowledgment

    Jessica Dreyer, Sebastian Böttger

    License

    Projekt is licensed with MIT. See at LICENSE

    Project status

    Work in progress

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