Mandatory assignment 3 - Project

General information

• 3 week project
• Can be completed as a group with 3-4 students or individually
• Because of Covid-19 we will not use physical hardware this year, but only rely simulations
• Estimated 20-25 hours of work per student
• Each group writes a single report and submits it on Canvas.

Below is a list of project suggestions. It will be updated with more projects until Thursday 29th. Each student must select a project by logging in to canvas and assigning himself/herself to one of the groups:

• Selecting a project group

Each group writes a short group report, describing what the group did and the main results. The report and source code must be submitted on canvas before the deadline.

It is possible to get help with the project at the following times:

• Torsdag 29. okt 9-12
• Onsdag 4. nov 10-12
• Onsdag 11. nov 10-12
• Onsdag 18. nov 10-12
• Torsdag 19. nov 9-12
• Friday 20. nov 9-11.30
• Onsdag 25. nov 10-12
• Torsdag 26. nov 9-12

Kim or Brage will be available physically at ITS (as long as we are allowed) and on Teams during the above times.

Group assignments

G1 - Motion control

• Implement a joint space PD control with gravity compensation on the CrustCrawler simulation
• Main components
  • Set up the crustcrawler simulation environment
  • Implement PD control with gravity compensation using crustcrawler_lib
• Resources
  • https://github.uio.no/TEK4030/crustcrawler_setup/blob/master/PROJECT.md
  • https://github.uio.no/INF3480/crustcrawler_simulation/wiki/Setup

G2 - Trajectory tracking with mobile robots

• Implement a trajectory tracker for a simulated Turtlebot3
• Main components
  • Get the Gazebo simulation up and working
  • Implement a trajectory planning method (one of the methods in chapter 11.5.3)
  • Implement a trajectory tracker (one of the methods in chapter 11.6.1)
  • Simulates the system in Gazebo
• Resources
  • Gazebo simulation of Turtlebot3:
    • https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#simulate-in-various-world
    • Only step 1.2.1.1 is needed to get the simulation up

Individual assignments

I1 - Pose regulation with mobile robot

• Implement the posture regulation method from Chapter 11.6.2 and simulate it using the ROS stage simulator
• Main components
  • Get the stage simulator up and working
  • Implement the posture regulation method
  • Simulate the system
• Resources
  • http://wiki.ros.org/stage_ros

  • Example world file for stage simulator

    position
    (
      pose [ 0.0 0.0 0.0 0.0 ]
      name "turtlebot"
      color "black"
    )

Self-defined project

If you are interested in a particular part of the course, that is not covered by the above topic, you can send an e-mail til kim.mathiassen@its.uio.no and propose your own project.