IDP

Integrated Design Project

Group L109

Engineers Across Borders

Sensors

Description	Variable
GPS	gps
Compass	compass
Left Distance Sensor	ds_left
Right Distance Sensor	ds_right
Colour sensor	camera
Emitter	emitter
Reciever	receiver

The compass is mounted such that the y-axis points up in the ENU coordinate system. (i.e. north points in the negative x axis). GPS coordinates have their origin in the centre of the arena, which is on the x-z plane.

Folder Structure

├── README.md                               <- The top-level README for using this project.
│
├── protos                                  <- Webot models
│   ├── RedHippo.proto
│   └── BlueHippo.proto
├── tools                                   <- Empty
│
├── worlds                                  <- World files
│   └── world.wbt
└── controllers                             <- controller code for this project
    ├── blue_controller                     <- controller for the blue robot. Has the same structure as pre_planned_path
    │
    └── pre_planned_path                    <- controller for the red robot
        ├── pre_planned_path.py             <- main controller file
        ├── paths
        |   └── horizontal_traverse.txt     <- text file containing the pre-determined path
        └── utils
            ├── __init__.py                 <- Makes utils a Python module
            ├── astarplanner.py             <- AStarPlanner class referenced from PythonRobotics
            ├── motion_api.py               <- Functions which govern the robots’ motion 
            ├── obstacle_detection.py       <- Functions which govern the detection and location of obstacles 
            ├── path_planning.py            <- Functions which govern the planning of routes around the map and generate sets of 
            |                                  coordinates to do so without collision. Uses astarplanner 
            ├── sensors_api.py              <- Functions which govern the retrieval and processing of data from the sensor nodes 
            └── variables.py                <- Declaration of the variables used throughout the program. 

References

Parts of this code are based on PythonRobotics https://github.com/AtsushiSakai/PythonRobotics