Autonomous robot capable of finding and grabing cube from camera feed
The objective is to retrieve cubes in a particular order and bring them back to a precise area, with an autonomous robot. The robot is driven by an ESP68266 card communicating via wifi with a computer on which the code is executed. The computer is connected to an IP camera that films the board in which the robot evolves.
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Detection of the position and orientation of the slave robot using an arUco code
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Detection of the position and sorting of the cubes using openCV according to their colors
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Creation of a trajectory vector between the robot and the next target
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PID in position and rotation of the robot from the camera to follow the trajectory
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Tracking of the opponent robot from a position selected at the beginning of the program, and predict his trajectory by derivating the pos
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Dodge the opponent robot using its position and the A* algorithm.
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creation of a strategy to recover the cubes to maximize the number of points depending on the distance, combos ...
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UDP connection between robot and computer for command communication
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code on ESP8266 for network communication, motor driver and last centimeter approach with ultrasound sensor. It receive commands from the computer and execute them.
- Download open CV and build it 1 - https://www.youtube.com/watch?v=x5EWlNQ6z5w 2 - https://www.youtube.com/watch?v=p-6rG6Zgu4U ( for Visual studio only )
build project from source code for testing purpose, You can use OBS ( https://obsproject.com/fr/download ) virtual camera as a camera and create a scene with asset from the repo