Complete deliverables for the Robotics subject (GEI - FIB), made in the Q1 2018/2019.
- Authors: Daniel Martínez Bordes, Ferran Martínez Felipe
Simulation of the movement of a 6R arm made using MATLAB. The idea behind this project is the understanding of the usage of coordinates transforms to define coordinates in each of the frames defined using the world frame as base (0, 0, 0) and the usage of inverse kinematics.
Al the code related to the short project (the one made by the students) is stored in the folder ShortProject1_Ferran_Martinez_Daniel_Martinez.m.
Robot localization of a NEATO in the world by using odometry. The idea behind this project is be able to know the position of a robot in a room from a reference frame, and show the path made for the robot using a web server. In addition, the robot has to be able to park between two boxes without touching them, using the NEATO laser as a LIDAR.
All the code related to the short project (the one made by the students) is stored in the folder practica2.py.
Set of tasks done by a NEATO robot related with navigation and localization using linear equations.
This task is based in using NEATO laser in order to avoid obstacles. The robot moves forward until the moment it found an obstacle in a cone in front of it. In this moment, the robot evades the obstacle by changing it direction as much as possible and continue moving forward (but not in the original direction).
This task is based in using NEATO laser in order to follow a wall. The robot moves forward until it found a wall in front of it. At this moment, the robot turns right or left and starts following the wall (always at the same distance). If the wall direction changes (a corner) the robot algorithm follow the wall (by doing the corner).
This task is based in using NEATO laser in order to go to an object. The robot moves forward until the moment that detect an object in front of him. At this point the robot starts moving towards the object until the moment that he reach it.
The idea behind this task is do the same as in Obstacle Avoidance, but in this case keeping all the time the position and direction of the robot in the space by using odometry. After avoid the obstacle, the robot continues moving in the same direction as before avoiding the obstacle (basically the robot is following a line as much as possible).
Code without changes from the task Wall Following (no improvement is needed).
Combination of the tasks Obstacle Avoidance and Meet An Object. If the robot acts as prey the behaviour is the same as Obstacle Avoidance (but evading from every direction instead of evading only the objects in front of it). If the robot acts as predator the behaviour is the same as Meet an Object.
Code without changes from the task Wall Following (no improvement is needed). The robot goes around a wall in order to do X laps before the other NEATO robots.