Robot Controller

Authors

Phase 1: Planning and Design

• Driver: Vivek Sood (UID 117504279)
• Navigator: Charu Sharma (UID 117555448)

Phase 2: Implementation

• Driver: Charu Sharma (UID 117555448)
• Navigator: Vivek Sood (UID 117504279)

Overview

In this project we implement a controller for an Ackermann kinematic model with a maximum steering angle constraint (e.g. < 45 degrees) (input robot target heading and velocity, output steering and the two drive wheel velocities, demonstrating convergence to the set points).

Agile Iterative Process

We have been following the agile methodology in this project to track all the tasks involved. We have been utilizing the notion platform to achieve this which can be seen in the link below:

Notion Agile Board

All the necessary links

• Link for proposal: Proposal
• Link for proposal video: Proposal Video
• Link for proposal presentation: Proposal Presentation
• Link for quad chart: Quad Chart
• Product Backlog: AIP
• Sprint notes: Sprint Notes

Standard install via command-line

git clone --recursive https://github.com/viveksood97/Robot_Contoller
cd <path to repository>
mkdir build
cd build
cmake ..
make
Run tests: ./test/cpp-test
Run program: ./app/shell-app

Building for code coverage

Install code-coverage tool, else the code coverage command will not work. It is a one time installation:

sudo apt-get install lcov

cmake -D COVERAGE=ON -D CMAKE_BUILD_TYPE=Debug ../
make
make code_coverage

This generates a index.html page in the build/coverage sub-directory that can be viewed locally in a web browser.

Run cppcheck and cpplint

Run cppcheck: Results are stored in ./results/cppcheck.txt

cppcheck --enable=all --std=c++11 -I include/ --suppress=missingIncludeSystem $( find . -name *.cpp | grep -vE -e "^./build/" -e "^./vendor/" -e "^./lib") > results/cppcheck.txt 2>&1

Run cpplint: Results are stored in ./results/cpplint.txt

cpplint $( find . -name \*.hpp -or -name \*.cpp | grep -vE -e "^./build/" -e "^./vendor/" -e "^./docs/" -e "^./results" -e "^./lib/") > results/cpplint.txt 2>&1

Run Doxygen

Run Doxygen: Results are stored in ./docs/html/index.htlm

doxygen docs/doxygen-file

Dependencies

We have the following library dependencies:

• time.h
• gnuPlot - http://stahlke.org/dan/gnuplot-iostream/

Install gnuplot

sudo apt-get install gnuplot

Install boost

sudo apt-get install libboost-all-dev

Demo

Run the program. Once the velocities and headings are converged to the target then graphs will be displayed as below. Also, converged values will be shown in the terminal.

Heading Convergence

Velocity Convergence

Terminal Output

References

• gnuplot- http://stahlke.org/dan/gnuplot-iostream/