LOCK

Localization, Obstacle avoidance , Control and Kinematics framework for differential steering systems.

Introduction

• The Problem Statement assumes a static camera mounted with the complete view of the arena.
• The obstacles are assumed to be of a paticular predefined color.
• Uses A* for Path Planning with Erosion/Dilation to provide the bot with sufficient cleareance from obstacles.
• Controls written specifically for differential steering systems.

Some Sample Tracks the bot successfully completed:

Sample Tracks at NIT Pragyan:

Sample Track at Kurukshetra:

Disclaimer: This is code developed specifically for competition and are certain to contain idiosyncrasies but it won in all the competitions it participated (2015-2016) :)

Competition Runs 1

Competition Run 2

Demo Run at Lab

####Tools needed

• USB HD webcam
• opencv 2.4.x
• Arduino UNO/MSP430
• HC06/Serial