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--- marvin:lab11 [2008/11/28 09:55] – deva
+++ marvin:lab11 [2008/11/28 12:06] (current) – rieper
@@ Line 16: / Line 16: @@
 =====Execution=====
 ====Project description====
+Make a remote controlled LegWay using a gyro.
 ====Software/Hardware====
+A HiTechnic((http://www.hitechnic.com)) gyro((http://www.hitechnic.com/contents/en-us/d24.html)), and some sort of blue tooth game controller or gamepad, is needed to make the project.\\
+The Pc should run some sort of application communicating with the robot for parameter tuning (GUI or CLI) probably through the LejOS PC API((http://lejos.sourceforge.net/nxt/pc/api/index.html)), and the robot should of course run LejOS.
 ====Problems====
+  * Figure out how to use the LejOS PC API((http://lejos.sourceforge.net/nxt/pc/api/index.html))
+  * Figure out how to make realtime communication with the NXT through bluetooth.((http://lejos.sourceforge.net/nxt/pc/api/index.html))((http://lejos.sourceforge.net/nxt/nxj/api/index.html))
+  * Figure out how to use the gyro((http://www.hitechnic.com/contents/en-us/d24.html))
+  * Implement PID control((http://en.wikipedia.org/wiki/PID_controller)), and tune the parameters using the model of an inverted pendulum((JOE: a mobile, inverted pendulum,Grasser,F.; D'Arrigo,A.; Colombi,S.; Rufer,A.C.,Industrial Electronics, IEEE Transactions on, 2002, 49, 1, 107-114)) in NXT-way GS model((http://lejos.sourceforge.net/nxt/pc/api/index.html)).
+  * Implement behaviour based driving to make the robot drive around and avoid obstacles.(([[http://www.ai.mit.edu/people/brooks/|Rodney Brooks]], A robust layered control system for a mobile robot, IEEE Journal of Robotics and Automation, RA-2(1):14-23, 1986, also [[http://people.csail.mit.edu/brooks/papers/AIM-864.pdf|MIT AI Memo 864]], September 1985.))
+  * Implement behaviour that takes control of the robot when commands are sent from the game controller.
+  * Figure out how to get commands from the game controller((Eg. this one: http://www.mindsensors.com/index.php?module=pagemaster&PAGE_user_op=view_page&PAGE_id=84)).
+  * If game controller does not work with NXT, implement a remote control using another NXT, and two motors in TACHO mode.
 ====Schedule====
+The project will be created through 6 lab sessions, each spanning one or two days.\\
+  * Lab session 1: Make robot able to communicate with gyro.
+  * Lab session 2: Make balancing robot with gyro, using mathematical modelling and PID parameter tuning.
+  * Lab session 3: Make robot able to drive at a predefined pattern.
+  * Lab session 4: Make drive autonomous, avoiding obstacles, using a behaviour model.
+  * Lab session 5: Make robot communicate through bluetooth.
+  * Lab session 6: Make robot remote controlled.
 ====Product====
+We expect to be able to show a bluetooth remote controlled gyro-balancing robot, driving autonomously when not controlled, capable of avoiding obstacles.
 =====Links=====
   * [[http://www.hitechnic.com/contents/en-us/d24.html|Where to buy a gyro (HiTechnics.com)]]
   * [[http://lejos-osek.sourceforge.net/videos.htm#NXTwayGS|OSEK analysis and implementation of a gyro balancer]]
+  * [[http://www.mathworks.com/matlabcentral/fileexchange/19147]]