Saturday, June 25, 2011

Arena Setup Complete

Finally the arena is functional. The complete feedback system is working:
  • cameras gett a birdview image of the arena;
  • each robot carry a marker which are tracked on the arena image;
  • the position and orientation measured with ARToolkit are fed into a Kalman Filter;
  • the filtered position and velocity of the robots are published to other programs;
  • a path following program compute velocity and steer corrections to keep a robot over a path with a controled velocity;
  • these commands are sent via a xbee to the robots;
  • each robot carry an arduino fio that command two motors (steer and throttle).

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