The new location and a swarm of robots

Dear all,
we are setting up the lab in the new, bigger, location. And in the meantime the robots just multiplied :)

have a nice summer

BSc project from the last half year is finally finished. It's focus was to implement and compare control systems to make the robot drive a specified trajectory. The control systems were combinations of 2 state estimators and 4 controllers. The state estimators filter out cricket noise and improve the state update frequentie by using prediction and the odometry data provided by sensors on the robot. The controllers try to control the robot in such a way to follow a timestamped trajectory as accurately as possible by using the data from the state estimator.

The BSc project group implemented a Particle Filter and improved the Unscented Kalman filter that was already present. The implemented controllers are the Linear feedback-, Non Linear feedback-, Dynamic feedback- and a PD controller. Besides these control algorithms a complete new MATLAB framework to test them was build. Finally the different combinations were tested in a simulation environment. The most promissing were tested in the lab with a figure 8 test trajectory. The error with the trajectory was determined using a ceiling mounted vision recognition camera. 

-group 21-713

BSc. Project wrap up

Hi all,

the BSc. Project is finished, and we have very nice results to show! The students designed a new configuration for the iRobot and they compared camera and cricket systems. Below their poster. Things are really moving!

and.. happy new year!

btw, we have the name of the first robot: Druznik. Thanks to the BSc. guys!
-andrea

Some news after some time

Hi all,

lot of things have been done in the last weeks. We do have now an external power supply for the Cricket and .. the Camera is running.
I configured the Camera so that it sends via tcp/ip the data and we have a stream. Thanks to Gabriel and Fankai. I attached here a nice picture.. but more is yet to come.
Good evening to everybody.

Two beacons for one robot

The two beacons localization procedure is in place! more or less.. =)

iRobot remote control via bluetooth

Little robots grow

Dear all, I am here in this late hour session, just to show the amazing job of today (or yesterday), in the hardware shop.. (thanks to Ron). Here is our new bot!


The UKF is getting there, the outlier rejection is in place, now we have to calibrate better the whole procedure.

slaap lekker,
-a