Control Team Research

Git Pull Before Each Session Por Favor

All software in development. See main repo for code deployed on rover.

Installing Dependencies

1. First clone the repo
2. All dependencies can be found in the requirements.txt file. You can install these dependencies in the terminal with

pip install -r requirements.txt

or

pip3 install -r requirements.txt

for python version 3

GUI

1. PyQt GUI with basic operations, camera feeds, and GPS with map readout
2. Record data from camera, GPS, and science system
3. Robot feedback

GPS

1. Map GPS waypoints
2. "Implement differential GNSS for higher accuracy"?
3. Find direct route between waypoints

Autonomous Navigation

1. Simple "wall detection" using depth camera
2. SLAM
3. SLAM with Extended Kalman Filter (EKF)
4. Online route modification given obstacle avoidance algorithm, detected marker location, and gps waypoint locations

ArUco Marker Detection

1. Detect marker in controlled environment
2. Use object detection to find approximate location of marker (may not be necessary)
3. Calculate distance to marker

ROS

1. Control structure with all data streams