Try   HackMD

Mobile Robot

tags: ROBOTICS, perception, navigation, localization, ROS

Brief description

Image Not Showing Possible Reasons
  • The image was uploaded to a note which you don't have access to
  • The note which the image was originally uploaded to has been deleted
Learn More →

MCU

  • Raspberry Pi 4B (RPi)

ACTING

  1. Cascade Control & PID
  2. 3-DOF rigid-body coordinate transforms
  3. Planar kinematics of a differential-drive ground robot
  4. Motion models with uncertainty

PERCEPTION

  1. Quadrature Encoders
  2. MEMS Inertial Measurement Unit
  3. 2D LIDAR Rangefinders(RP-LiDAR)

REASONING

  1. Particle Filter Localization
  2. Simultaneous Localization and Mapping(2D Mapping)
  3. A* search
  4. Path planning

Goal:

  1. Explore unknown maze.
  2. Solve kidnapped robot problem.

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Mapping, Path planning and localization

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Robot exploration demo

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Kidnapped robot demo

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Code

https://gitlab.eecs.umich.edu/s1-t8/botlab-f22
Not open to the public (domains outside the umich)

Mobile Robot Report

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Last changed by 
 
Yu-Ju Chiu
I'm an Robotics Engineer. Out of curiosity, I am interested in learning and exploring unknown fields. https://www.linkedin.com/in/yu-ju-chiu-611515198/
0
146

Read more

Object Detection (Feature Pyramid Network)

A Feature Pyramid Network, or FPN, is a feature extractor that takes a single-scale image of an arbitrary size as input, and outputs proportionally sized feature maps at multiple levels, in a fully convolutional fashion. This process is independent of the backbone convolutional architectures. It therefore acts as a generic solution for building feature pyramids inside deep convolutional networks to be used in tasks like object detection.

Jun 13, 2024
Aligning Point Cloud Views with Point Feature Histograms

image

Jun 6, 2024
Practical Implementation and Optimization of Shadow Detection and Removal

image

Jun 6, 2024
Panoramic Stitching

Getting started %matplotlib inline import cv2 import random import numpy as np import matplotlib.pyplot as plt from google.colab.patches import cv2_imshow ]: %%capture ! wget -O img1.jpg "https://drive.google.com/uc?,→export=download&id=1omMydL6ADxq_vW5gl_1EFhdzT9kaMhUt" ! wget -O img2.jpg "https://drive.google.com/uc?,→export=download&id=12lxB1ArAlwGn97XgBgt-SFyjE7udMGvf"

Jun 6, 2024
Read more from Yu-Ju Chiu
Published on HackMD