Today we successfully implemented a joystick into our GUI for manually controlling our vehicle. We were also able to stream joystick data to our cRIO which then can be processed into motor commands. Here is a screenshot of our GUI recognizing the Joystick and streaming it’s data.
Categories: Control Systems |
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We have completed Image segmentation on the GPU based on the previously completed SOM for non-linear color reduction. To segment the image from the SOM(Self-organizing map) we first clustered the 16×16 SOM into 7 color clusters. After sufficient clustering is achieved each pixel in the image to be segmented is first matched to [...]
Categories: News Updates, Sensors |
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The following video shows our GUI correctly updating the map. In the video you can see an obstacle (Viktoras) moving around while the robot calculates and finds the new best path to take around him. The map shown only contains the data grabbed from the LIDAR sensor with a 4Hz update.
Categories: News Updates |
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Today we were able to establish a three way (cRIO to PC to GUI) communication and send LIDAR data and the best path. Image below is a screen-shot of our ControlCenter displaying current LIDAR (blue) data and the best tentacle (red) chosen by our PathCalculator.
Categories: News Updates |
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Here is how the tentacles look rendered with OpenGL. Below are all five images of tentacles for five different speed sets from lowest to highest.
Categories: News Updates |
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In our last update on Driving with Tentacles we got the tentacles calculated but we still needed to calculate the classification area for each tentacle. Classification area is the area that our vehicle will be covering as it drives along the tentacle. In order to choose the correct tentacle to drive by we must know [...]
Categories: Control Systems |
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Through the break we were not only able to finish the motor brackets but also weld them on to the frame. As you can see in the picture below the frame is whole and has the rear wheels and one motor attached. Also the frame is more than strong enough to hold me up with [...]
Categories: Chassis |
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Throughout the research for path calculation methods the team came across various ways of calculating paths including very untraditional one, using tentacles. This method of path calculation was invented by Felix von Hundelshausen, Michael Himmelsbach, Falk Hecker, Andre Mueller, and Hans-Joachim Wuensche and first used applied at both the C-Elrob (European Land Robot Trial) 2007 [...]
Categories: Control Systems |
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We have successfully done a non-linear color conversion from RGB to gray scale on the GPU. To perform the non-linear conversion we first converted the image from RGB to Modified L*u*v space by using the set of equations in the document listed below. After converting to L*u*v space a neural network variant called a SOM(Self-Organizing [...]
Categories: Sensors |
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This weekend the team continued to make progress on fabricating the chassis. The front A-frames were welded onto the box frames, and attached some of the support bars. In addition, the tabs for mounting the wheel axles were welded on as well. The frame is now in three large sub-components: the [...]
Categories: Chassis, News Updates |
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