Robot Control and Navigation System

Overview

This project implements a robotics system capable of real-time control, autonomous navigation, and environment interaction. It features a web-based interface, multiple sensors, and PID-based motor control for precise movements. The modular design enables easy integration and extension for additional functionalities.

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Features

1. Robot Control via Web Interface

• HTML and JavaScript-based Control Panel:
  • Directional controls (Forward, Backward, Left, Right).
  • Adjustable speed slider.
  • Real-time state monitoring (Health, RPM, Speed, Bearing, Position).
• Canvas-based Visualization:
  • Interactive map showing current position and targets.
  • Click-to-set navigation waypoints.

2. Autonomous Navigation and Attack Modes

• Autonomous Modes:
  • Navigation to predefined points (e.g., Red/Blue Nexus, Towers).
  • Wall-following for obstacle avoidance.
  • Attack closest enemy structure or static targets.
• Decision Logic:
  • Uses Euclidean distance and bearing calculations.
  • Target and obstacle tracking with tolerance-based precision.

3. PID Motor Control

• Implements Proportional-Integral-Derivative (PID) controllers for motor speed regulation:
  • Left and right motors controlled separately.
  • Parameters dynamically tuned for optimal performance:
    • Proportional Gain (lkp, rkp).
    • Integral Gain (lki, rki).
    • Derivative Gain (lkd, rkd).
• Ensures stable and accurate motor speed adjustments for navigation.

4. Sensor Integration

• Sensors Used:
  • Sharp IR: Measures obstacle distances.
  • Time-of-Flight (TOF): Tracks forward and rightward distances.
  • Vive Sensors: Provides precise positional coordinates.
  • Encoders: Tracks motor revolutions for speed and position.
• Sensor Data Processing:
  • Median filtering for noise reduction.
  • Continuous updates for localization and speed feedback.

5. Modular Architecture

• Robot Class:
  • Manages movement states (e.g., forward, backward, attack).
  • Processes sensor inputs and updates motor commands.
• Sensor Class:
  • Updates sensor readings, including distance and bearing.
  • Provides health monitoring and localization feedback.
• Point Class:
  • Facilitates spatial calculations (e.g., distances, angles).

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Technical Details

Motor Control and PID

• PID Algorithm:
  • Calculates error as the difference between desired and actual motor speeds.
  • Adjusts motor PWM signals to minimize error.
  • Includes anti-windup mechanisms to prevent integral oversaturation.

State Machine

• Robot States:
  • 0: Stop.
  • 1: Move forward.
  • 2: Move backward.
  • 3: Turn left.
  • 4: Turn right.
  • 5: Navigate to target.
  • 6: Attack closest target.
  • 7: Attack static structure.
  • 8: Navigate up a ramp.
• Autonomous Substates:
  • For navigation: Approach target, turn, wall-follow, and stop when close.
  • For attack: Scan, orient, and approach target.

Autonomous Constants (config.h)

• Configurable Parameters:
  • distTolerance: Minimum distance to consider the target reached.
  • bearingTolerance: Allowed deviation from desired angle.
  • PID tuning constants for adaptive motor control.
• Predefined Points/Orientations:
  • Red Nexus, Blue Nexus, Towers.

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Files and Structure

File	Description
web.h	Defines the web server and control panel interface.
auton.h	Functions for autonomous navigation and decision-making.
config.h	Configuration file with constants, pin definitions, and feature toggles.
html510.h	Utilities for handling web interface communication.
point.h	Point class for spatial calculations like distances and angles.
robot.h	Core robot class handling movement, states, and control logic.
sensors.h	Manages sensors (TOF, Vive, IR) and updates localization and health data.
SharpIR.h	Library for Sharp IR distance measurement.
vive510.h	Tracks position using Vive sensors.
final_project.ino	Main Arduino sketch integrating all modules and logic.

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Setup and Installation

1. Hardware Configuration

• Assemble the robot, connecting sensors and motors.
• Ensure all pins match the configuration in config.h.

2. Software Setup

• Install Arduino IDE with required libraries:
  • Adafruit_VL53L1X
  • SharpIR
• Compile and upload final_project.ino to the microcontroller.

3. Web Interface

• Connect to the robot's WiFi network.
• Open the provided web interface in a browser for control.

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Usage

Manual Control

• Use the web interface buttons to control movement (forward, backward, left, right).
• Adjust speed using the slider.

Autonomous Modes

• Select from predefined tasks such as attacking structures or wall-following.
• Monitor real-time feedback on position, speed, and state.

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Future Improvements

• Integrate additional sensors for better obstacle avoidance.
• Implement advanced path planning algorithms.
• Add a feature for mapping unknown environments.

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Acknowledgments

• Developed for MEAM510 at the University of Pennsylvania.
• 'html510' based on example frameworks provided by the course.

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