Localization, Obstacle avoidance , Control and Kinematics framework for differential steering systems.
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AI-path_planning
Eagle
Kinematics-Control
LOCK_Framework
Localization
.DS_Store
LICENSE
README.md

README.md

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:

Track 1

Sample Track at Kurukshetra:

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

DEMO Video

Competition Run 2

DEMO Video

Demo Run at Lab

DEMO Video

####Tools needed

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