Groups:Biosystems Engineering SDU:Armadillo photo project

Robot configuration

The robot consists of the Armadillo platform mounted with a camera and artificial lighting in front.

Navigation is performed using a SICK Lidar and IMU (Claas Rowcam?). In case the maize plants are too small, wooden sticks will be used as navigational aid.

Task description

The robot must be capable of performing the following tasks:

• Manual driving using the Wiimote
• Autonomous continuous driving along rows of Maize at a configurable speed.
• When in continuous driving, send velocity to camera as according to JDAM documentation.
• Autonomous Stop and Go driving along rows of Maize. Driving speed must be configurable. Transition from Go to Stop state must be based on a configurable distance. Transition from Stop to Go state should be based on a configurable interval or immediately if the user presses a button on the Wiimote.
• When in Stop and Go mode, send CAN package when Armadillo is stationary to capture a frame
• During all tasks the vehicle pose and state must be logged continuously.

Todo

• Armadillo must be able to send Active/Idle CAN messages as specified in the JDAM Server project. According to Søren there is also a bug in the CAN node which needs to be fixed.
• Correct the following issue: https://github.com/FroboLab/FroboMind/issues/6
• Overall state machine for handling the tasks described in the section below, Niels might have something for this.
• Test/update of line following algorithm software.
• During the project relevant documentation must be updated on this wiki.