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[EMATM0054 Robotics Systems] Pololu 3Pi+ Robot Line Following and Controller Design

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rs_pololu

Code Repository of My MSc Course Project

EMATM0054 Robotic Systems

University of Bristol, UK

Version description:

  • V1.0: Achieved very simple line following
    • motor driver
    • line sensors driver
    • Bang-bang controller
    • Straight line
  • V2.0: Achieved improved line following
    • 90 degree cornor
    • 135 degree cornor
    • Finite-state-machine (FSM)
    • utility driver: beep and led
    • auto map selection
  • V3.0: Achieved line following challenge, eared 95% marks for assessment 1 [video]
    • encoder driver
    • join the line at 90 degree
    • simple odometry (by count)
    • simple return-to-home (RTH)
  • v4.0: Achieved comprehensive line following, baseline for group report
    • wheel speed estimation using encoder
    • low pass filter
    • task scheduler: multi-tasking programming for Arduino
    • full PID
    • cascaded control architecture
      • Heading Controller (PID)->Motor Speed Controller (PID)
    • refact all code
  • v5.0: LQR-based heading controller
    • odometry (x,y, theta)
    • data recoder

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[EMATM0054 Robotics Systems] Pololu 3Pi+ Robot Line Following and Controller Design

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