martinferianc / robotics-eie3

Robotics assignments done as a coursework for CO333

👋 Hi there! I'm Martin

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Martin obtained an MEng in Electronic and Information Engineering from Imperial College London, London, UK in 2015. He is currently a PhD candidate in the Department of Electronic and Electrical Engineering at University College London. His research interests include Bayesian neural networks, deep learning , hardware acceleration and confidence calibration. He has hands-on experience from industrial/academic placements in different countries.

robotics-eie3's Issues

Index Error on Ultrasonic Readings

Exception occurred when program tried to read from result[0] and it threw a tuple index out of range error.

To-Do:

• Define a method to return a standard deviation of x,y,theta
• Rewrite update state so that it takes an argument the pose of the ultra sound to refine the precision
• Change the inaccuracy of the ultrasound depending on the distance
• Change the navigation_to_waypoint according to the current precision, if not precise enough do further measurements

[bug] move_wheels update particles

I think update_particles code should be in travel_straight instead of move_wheels.

move_wheels is used inside rotate_right to move one wheel forward and one wheel back, so whenever we rotate the robot on the spot X and Y in particles will change.

unused code?

Line 639 in robot.py

self.motor_speed = [v_l,v_r]

This statement does nothing.

self.motor_speed is updated when self.set_speed() is called.

[Assignment 3] TO-DO

• README for Exercise 1 - George
• Exercise 2 coding and also README - Owen & George
• Check all the exercises for demonstration - Martin & Mike

Exception when no wall ahead matches the Map

Line 198 in ./src/particle.py
ValueError: min() arg is an empty sequence
branch empty_seq_fix has been created for this fix

Does rotate_right need update_particles?

We use set_robot_pose to rotate the robot to an angle. set_robot_pose also adds some Gaussian to the theta of the particles. Why do we need to also update particles in rotate_right?