Roadmap M1 - KTH-RAS-HT14-G9/robot_ai GitHub Wiki

##Architecture for Milestone 1

##Milestone 0 review:

• Calibrate PID:
  • check encoder publish frequency
  • slower acceleration (maybe restrict max velocity)
  • test pid class (d-part)

##Milestone 1 tasks:

• Read reports

• Calibrate IR sensors

  • curve fitting
  • name sensors

• Wall following controller

  • adjust angular velocity to not crash into wall when going straight

• Turn controller

• Forward controller

• Brain (M1):

  • Follow left wall
  • Turn left is possible
  • If object is detected
    • stop
    • wait for recognition
    • Notify outcome (see architecture graph for more info)

• Vision:

  • detect distance to wall
  • detect object
  • recognize object
    • color
    • shape
  • record video feed with rosbags