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