ロボトレース進捗、より高度化したショートカットテスト
Ғылым және технология
1回目は普通にライントレースをしてライン座標を2次元で記憶
2回目以降は覚えた座標を改変し、経路の最適化を行ったうえで
ライントレース制御せずそのオドメトリ情報を元に走る。
評価関数を用いて単に細かいカーブをショートカットするだけでなく、物理的にきつい不自然な経路が生成されないようにするなども行っている。
1回目は普通にライントレースをしてライン座標を2次元で記憶
2回目以降は覚えた座標を改変し、経路の最適化を行ったうえで
ライントレース制御せずそのオドメトリ情報を元に走る。
評価関数を用いて単に細かいカーブをショートカットするだけでなく、物理的にきつい不自然な経路が生成されないようにするなども行っている。
Пікірлер: 21
Awesome! Very clear explanation
Great software, well done.
It is awesome!
Impressive! Chances are rules will be changed once again to restrict the sweeping area within the width of tire instead of side extended arms. If the updated rules aren't going to against this in the future, the way you optimize the path could be revolutionary!
@pablosotomayor6605
2 жыл бұрын
No está permitido eso realmente
@Shubham-po2tp
2 жыл бұрын
What do you mean, How he optimised path
@Greenye
2 жыл бұрын
Seems like he increased the effective turning radius for each turn to make the overall arc length reduced. He intentionally added some light weighted materials on the 2 sides of the arm to increase the sweeping area to meet the requirement of the rules to be considered as “stay on the track”
@Shubham-po2tp
2 жыл бұрын
@@Greenye Ooooo Now I Got it Can you please tell me how he stored such track which is without any mark (white stripes at left side)
@Greenye
2 жыл бұрын
@@Shubham-po2tp I've never done robotracer before, but I think if I were doing this, I would just make this a line follower first then differentiate the cases based on the angular velocity at each locations to categorize the patterns. You definitely need to ask him for the actual answer, haha.
どの程度なら逸脱しても許されるのか
Which microcontroller used