21 Aug

We have implemented a kinematic controller to guide the Roomba to a series of setpoints. OptiTrack is completing the feedback loop with the Roomba, communicating its groundtruth at about 120 Hz. We are calculating the errors in angle and distance using linear transforms. There are still some improve...

31 Jul

I am finally able to stream the position and orientation data from the OptiTrack Motive Tracker software into a python program on the ComputeSticks! Below is a video visualizing the demo given yesterday. Week6.mp4

25 Jul

Overall, I am having quite a positive experience at LEMUR. The aspect of this lab that most prominently grabs my attention is how willing lab members are to help each other. The person outside of my team who has helped the most, directly and indirectly, with the project is Amir. At nearly every step...

12 Jul

I was able to figure out how to make the Roomba travel along the circumference of a circle or arbitrary size. It turns out that my issues with accuracy and consistency of control inputs were due to scaling of the linear and angular velocity commands. During a test trial, Xin and I found that even t...

10 Jul

Xin and I have figured out how to control and program the Roombas, so that is good. What is not good is that our programs seem to be inaccurate. The inputs that the Roomba reads are linear and angular velocity, in M/s and Rad/s. We wrote a program to simply create a spiral, which is a popular and si...

09 Jul

I am entering week 4 of my research project at LEMUR and have learned quite a bit. I am making headway on one of my large summer goals as an undergraduate and first-time researcher: Gain an understanding of what 'doing research' actually entails. It is quite a bit different than the normal school ex...

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