BSc thesis
Control system design for EUROBOT Competition
The control system consists of:
- Visual-aid grabbing system
- Perception system based on EKF and Particle filter
- Planning & navigation system based on Dijkstra (global planner) and TEB(local planner)
- Main controller with work flow scheduling
Visual aid manipulation of samples with QR code.
- QR code position & oriention detection
- Inverse kinematics calculation
Map Perception:
- grid map based on Gmapping
- tried visual SLAM
Particle filter localization
- obstacle cost map
- eliminate accumulative error
Planning based on via points
