Commit 1bbbdb80 authored by Nicolas Van der Noot's avatar Nicolas Van der Noot

readme update

parent f86b3447
The resource is a simulation environment where one or several mobile robots compete against each other in order to get the highest possible score for their team. The said robots have a system of differential-drive wheels to move. Their aim is to autonomously collect several targets spread over the playground, bring them back to their base, while avoiding contacts with the opponent robots. Reaching this goal requires developing a controller (coded in C/C++) providing the appropriate voltage to the robot’s wheels, as a function of sensory inputs such as wheel velocity, touch sensors, or beacon detector. Learning outcomes of such a project include velocity control of DC motor, trajectory control, development of path-finding algorithms (optimal path search), avoidance of fixed obstacle and moving opponents, and the development of a high-level strategic decision module. This environment can further be used by the teacher to show concepts related to a mobile robotics class.
The resource is a simulation environment where one or several mobile robots compete against each other in order to get the highest possible score for their team. The said robots have a system of differential-drive wheels to move. Their aim is to autonomously collect several targets spread over the playground, bring them back to their base, while avoiding contacts with the opponent robots.
Reaching this goal requires developing a controller (coded in C/C++) providing the appropriate voltage to the robot’s wheels, as a function of sensory inputs such as wheel velocity, touch sensors, or beacon detector. Learning outcomes of such a project include velocity control of DC motor, trajectory control, development of path-finding algorithms (optimal path search), avoidance of fixed obstacle and moving opponents, and the development of a high-level strategic decision module. This environment can further be used by the teacher to show concepts related to a mobile robotics class.
# INSTALLATION INSTRUCTIONS #
......@@ -30,13 +32,13 @@ This project can possibly be adapted to a new scenario (e.g. new map...). In suc
The first thing to do is to clone (or download) this template project called [diff_wheel_robots](https://git.immc.ucl.ac.be/LMECA2732/diff_wheel_robots).
Next step is to create the new map, for instance inspired from the map of the [Eurobot](http://www.eurobot.org/) contest. To create the map, there are different possibilities. You need to get it as VRML (.wrl) and/or OBJ (.obj) formats.
Next step is to create the new map, for instance inspired from the map of the [Eurobot](http://www.eurobot.org/) contest. To create the map, there are different possibilities. You need to get it as VRML (.wrl, used for the *Java* visualization) and/or OBJ (.obj, used for the *OpenGL* visualization) formats.
On the official website of Eurobot, it is possible to download CAD files. Pay just attention that sometimes, the conversion to VRML and/or OBJ files can not work properly. If you prefer to do it yourself, you can for instance use [Blender](https://www.blender.org/).
When this is done, you have the main part of the map. Then, you just need to add the different objects on top of it. Finally, save the VRML in the [vrml](animationR/vrml) folder and the OBJ in the [obj](animationR/obj) folder.
In the [same folder](animationR), you have access to different CAD elements (like the VRML of a robot).
In the [same folder](animationR), you have access to different CAD elements (like the VRML and OBJ of a robot).
## Create .MBS files ##
......@@ -47,6 +49,8 @@ Robotran to compute the direct dynamical model.
* [diff_wheel_robots_java.mbs](dataR/diff_wheel_robots_java.mbs): an incremented version of *diff_wheel_robots.mbs* with moving objects (others than the robots) which can be moved by the robots (Robotran does not know about these objects). This file is only used for visualization. More precisely, this file is used for the *Java* visualization and requires VRML files.
* [diff_wheel_robots_open_gl.mbs](dataR/diff_wheel_robots_open_gl.mbs): this file is similar to [diff_wheel_robots_java.mbs](dataR/diff_wheel_robots_java.mbs), but is used to visualize the animation with *OpenGL*, requiring OBJ files.
Instructions on how to model these files using the graphical Pad (*MBsysPad*) can be found [here](http://www.robotran.be/tutorial/modelling/c-code/).
## Configuring the project ##
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