Design:
Model files can be found in the mechanical/ directory or https://a360.co/45wuxL5
Ansys Analysis:
Report can be found here
Part 1:
The differential drive mechanism is a simple 4wd that takes in (linear.x and angular.z) from ROS controller which will accordingly turn the motors.
Part 2:
Part 3-6:
Combined all tasks in one circuit.
The Sinusoidal wave produced will be connected to a copper coil (basically an inductor). Another copper coil will be receiving the voltage. When connected across a capacitor and near a mine, due to metal eddy currents, there will be changes across voltage in capacitor measured by Arduino.
The necessary PCBs can be fouond in the electronics/ directory.
Color Detection
Cone detection as follows:
Path Planning
Example path
Used RRT to create a path, also edited the obstacle_detection.py for path to be far away from walls, so that robot doesn't crash with it.
Controller
Simple controller for robot to navigate along the planned path. controller.py
Others
run catkin_make after cloning in the ~/catkin_ws/src directory.
Path planner uses RRT to make calculate a path which goes over all points.
roslaunch robotics_hackathon_automation automation_task.launch