marvin:ecp6
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marvin:ecp6 [2009/01/23 10:04] – sohn | marvin:ecp6 [2009/01/29 11:29] (current) – deva | ||
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- | =====Stikord===== | + | <texit info> |
- | * Stadigt voksende klassediagram | + | author=Johnny Rieper, Bent Bisballe Nyeng and Kasper Sohn |
+ | title=Marvin - The Balancing Robot. | ||
+ | </ | ||
- | ======End course project, lab report 6====== | + | ======Improvements====== |
- | **Date:** January 20nd 2009\\ | + | Even though we are quite pleased with the performance |
- | **Duration | + | |
- | **Participants: | + | |
- | =====Project Goal===== | + | Marvin is able to balance and drive around randomly while avoiding obstacles. He is also able to be remotely |
- | Make robot remote | + | |
- | =====Plan===== | + | We chose to use a PID controller because it had been introduced during the course, but it could be interesting to investigate some other controllers and evaluate their performance as well. The controllers of interest could be an LQR controller or/and a Pole-Placement Controller. These are mere a few amongst many. We are curios as to whether it could be possible to further optimize the PID control parameters for better balancing and robustness, or if it has been pushed to its limits whereas we would have to turn to other controller algorithms to achieve better results. |
- | * Make pc bluetooth | + | |
+ | In order to further optimize the PID control parameters (or any other parameters of interest), it would be nice to have an online tuning method through a PC GUI application, | ||
+ | |||
+ | ======Conclusion====== | ||
+ | In lab 11(([[http:// | ||
+ | During the entirety of the unwinding of the project, we kept the original goals in mind, and tried to keep as close to them as possible. We did not expect, but hoped, to accomplish all of them, however contrary to our expectations, | ||
+ | \\ | ||
+ | Conclusively we consider this project a success. |
marvin/ecp6.1232701464.txt.gz · Last modified: 2009/01/23 10:04 by sohn