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0acc59cc53
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replaced cv2.aruco with python bindings for new aruco version
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2020-10-23 20:44:20 +02:00 |
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280fb10427
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replaced cv2.aruco with python bindings for new aruco version
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2020-10-23 20:43:45 +02:00 |
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0bc6b68a20
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playing around with different markers and sizes
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2020-10-21 21:10:04 +02:00 |
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e93ae65e0f
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added option to dynamically initialize grid and robots and added support for arbitrary grid orientation w.r.t. camera
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2020-10-18 18:03:33 +02:00 |
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056d91da52
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fixed error with turn around command
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2020-10-18 16:58:32 +02:00 |
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3ab8fadc7b
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robot driving to position determined by mouse click
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2020-10-18 15:16:28 +02:00 |
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49645765d7
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input handling using opencv window
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2020-10-15 22:41:30 +02:00 |
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e3753f7644
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improved grid logic for robots + general cleanup
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2020-10-15 20:35:32 +02:00 |
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32892e5dcf
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added option to compute angle for marker based grid
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2020-10-14 23:08:19 +02:00 |
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149e9b3536
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coupled robot control with new position estimator
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2020-10-14 21:15:43 +02:00 |
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36f3ccbd6c
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fixed a problem where robot could drive diagonally caused by int casting error and improved the socket buffer size which could lead to problems for longer messages
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2020-09-15 15:23:01 +02:00 |
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e7ab92dfe2
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added more commands and improved error checking
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2020-09-09 20:21:34 +02:00 |
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c98760a2c7
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working version with two robots
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2020-09-09 18:12:12 +02:00 |
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280aee75ee
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parameter tuning. works well with control scaling of 0.3
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2020-09-09 17:33:13 +02:00 |
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826fa4be0f
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fixed problem with target angle of -pi, pi which was caused by discontinuities in the angle measurements
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2020-09-07 16:18:35 +02:00 |
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6fb3cd5484
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so-so working version for mpc control
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2020-09-04 16:53:39 +02:00 |
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d170524370
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added 8th waypoint
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2020-01-16 10:58:33 +01:00 |
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0c59a77b28
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changed marker ids
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2020-01-16 07:51:54 +01:00 |
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aab1b78e8f
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added accessability features (choosing ip, robot id at startup, changing max speed), remove obstacle code
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2020-01-12 16:11:26 +01:00 |
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86b9ad659d
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removed unnecessary code and fixed formatting
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2019-08-14 14:49:11 +02:00 |
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cd2fc8cc3b
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cleaned up game code: read track from config file, added option to have a variable number of markers, removed hardcoded marker ids, added debug output for track setup
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2019-08-14 13:46:01 +02:00 |
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522bd87c9c
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removed comments
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2019-08-13 14:11:03 +02:00 |
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9d9d539962
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fixed wrong import
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2019-08-12 17:36:26 +02:00 |
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4830c2e252
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removed fiducial transformation script duplicate
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2019-08-12 16:48:59 +02:00 |
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bt304019
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2987da4373
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improved keyboard controller script. added quit option and option to pass ip as command line argument
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2019-08-12 16:42:57 +02:00 |
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55b468d314
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added quit event
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2019-08-12 15:52:38 +02:00 |
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034d88394c
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timer for game
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2019-07-12 18:09:42 +02:00 |
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a630150a24
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added more waypoints. final version for TdM 2019
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2019-07-12 17:45:31 +02:00 |
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e219f7de38
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updated race game program by Dmitriy
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2019-07-09 19:48:39 +02:00 |
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15da18f949
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changed marker ids
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2019-07-09 19:42:19 +02:00 |
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d985b830b9
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version of the problem that works quite nicely with L293D robot and multistep MPC2
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2019-07-04 14:39:34 +02:00 |
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c6582c9e6c
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added plots for x and y position
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2019-07-04 13:48:32 +02:00 |
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24cf87e9dd
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added plot for race track
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2019-07-04 10:54:50 +02:00 |
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9c222b1099
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fixed problems with simultaneous inputs not being handled and gamepads not detected
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2019-06-28 10:28:51 +02:00 |
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67405fbd3f
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measure postprocessing time
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2019-06-27 16:30:24 +02:00 |
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9dfc06169f
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cleaned up code, removed old controllers
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2019-06-27 14:43:42 +02:00 |
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ac0ad6c45a
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added joystick controller written by Dmitriy
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2019-06-27 14:11:52 +02:00 |
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2a5e0e8ae7
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added condition if marker cannot be found
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2019-06-27 14:11:19 +02:00 |
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b54c2d565c
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implemented obstacle avoidance
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2019-06-27 12:12:42 +02:00 |
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7d69c91752
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working mpc with L293D motor driver
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2019-06-26 11:36:54 +02:00 |
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2711373d44
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testing not sending time in mpc
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2019-06-26 10:49:52 +02:00 |
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0835690659
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changed ips and max speed for testing
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2019-06-26 10:49:05 +02:00 |
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843b30f5d3
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added option to set target angle
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2019-06-14 10:38:21 +02:00 |
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465309ee45
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added test for max speed and prediction step in MPC
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2019-06-14 10:37:46 +02:00 |
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c31bb9cb11
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testing multistep mpc
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2019-06-13 13:46:29 +02:00 |
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8548348edd
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added warmstart
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2019-06-13 13:45:45 +02:00 |
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b8927cf1c5
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working version of MPC controller
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2019-06-13 13:18:46 +02:00 |
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f100f21162
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started working on optimization based controller
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2019-06-11 17:40:39 +02:00 |
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0d14738671
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changed forward, backward and turning directions in keyboard control script such that it fits the model and the camera image
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2019-06-11 16:28:01 +02:00 |
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480e1f523c
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rewrote position controller script. now animated plot works for keyboard control and pid control
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2019-06-11 16:26:53 +02:00 |
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9595a68494
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added custom messages for pos and angle
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2019-06-11 09:56:25 +02:00 |
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441e55000a
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added option to sest maximum speed
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2019-06-10 23:16:56 +02:00 |
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2fb69de9c5
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added ip of 3. robot
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2019-06-10 23:15:36 +02:00 |
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1d8d2d8043
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added ros node for transformation of translation and quaternion rotation to position and angle in 2d plane
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2019-06-07 14:20:05 +02:00 |
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4bff8e1df5
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fixed a bug in keyboard remote controller
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2019-06-05 08:06:11 +02:00 |
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530cef54b3
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added simulation of robot
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2019-05-24 09:21:54 -05:00 |
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f3de1b173a
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example for optimal control of robot
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2019-05-24 09:20:49 -05:00 |
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06bcf565f3
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added position detection with opencv
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2019-05-06 22:23:31 +02:00 |
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