https://github.com/vivekpa/idp

Integrated Design Project
https://github.com/vivekpa/idp

Last synced: about 2 months ago
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Integrated Design Project

• Host: GitHub
• URL: https://github.com/vivekpa/idp
• Owner: VivekPa
• Created: 2021-01-22T17:08:54.000Z (over 4 years ago)
• Default Branch: main
• Last Pushed: 2021-02-22T10:09:08.000Z (about 4 years ago)
• Last Synced: 2025-01-14T11:28:42.136Z (3 months ago)
• Language: Python
• Size: 913 KB
• Stars: 0
• Watchers: 4
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# 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