Robocup Localization - Keys for Robot Functionality

Localization plays a crucial role in helping robots understand their position and make decisions. It is essential for tasks such as planning moves and solving vision-related problems. Implementation involves using a combination of data from robot vision, internal gyro, and motion to estimate the robot's location within a space.

• Robotics
• Localization
• Implementation
• Robot Functionality
• Decision Making

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Uploaded on Mar 02, 2025 | 0 Views

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Presentation Transcript

1. Advanced LabVIEW http://workshop.frclabviewtutorials.com

2. Building A Robust Autonomous If your robot: Is easy to code for auto Has the software architected so that auto coding is simple Has driver s that are practiced You have a mountain of potential to do well.

3. Ingredients Quick, effective mechanisms Easy to edit Use sensors (closed loop control) Appropriate sensors to help your robot account for inconsistencies in field, setup, game pieces, battery level, etc.

4. Closed loop control through PID PID

5. Closed Loop Control Open Loop:

6. Closed Loop Control Open Loop Closed Loop

7. Closed Loop Control Open Loop Closed Loop Example

8. Closed Loop Control Open Loop Closed Loop Example Move the arm

9. Closed Loop Control Open Loop Closed Loop Example Move the arm Tele-op.vi

10. Closed Loop Control Open Loop Closed Loop Example Move the arm Tele-op.vi Motor X = .25

11. Closed Loop Control Open Loop Closed Loop Example Set Arm Position to 90 Tele-op.vi Motor X = .25 Potentiometer

12. Closed Loop Control Open Loop Closed Loop Example (arm position) Set Arm Position to 90 Tele-op.vi Motor X Potentiometer

13. Closed Loop Control - PID PID stand for: Proportional Integral Derivative (arm position) Set Arm Position to 90 Tele-op.vi Motor X Potentiometer

14. Closed Loop Control - PID PID stand for: Proportional Integral Derivative Output = Kp E(t) + Ki E (t) + KdE (t)

15. PID Proportional

16. PID Proportional Constant multiplied by error (offset) The larger this is, the faster the robot approaches the setpoint (smaller rise time) If too large, the robot will overshoot the target consistently

17. PID Proportional Constant multiplied by error (offset) The larger this is, the faster the robot approaches the setpoint (smaller rise time) If too large, the robot will overshoot the target consistently Integral Constant multiplied by integral of all previous error values The larger this is, the less overshoot and settling time (less bounce) If too large, the robot will eventually react to any error violently

18. PID Proportional Constant multiplied by error (offset) The larger this is, the faster the robot approaches the setpoint (smaller rise time) Integral Constant multiplied by integral of all previous error values Used to eliminate steady state error (reducing offset after movement) Differential The larger this is, the less overshoot and settling time (less bounce)

19. PID Tuning

20. PID Tuning Several methods available Ziegler Nichols* Tyreus Luyben Cohen Coon str m-H gglund Manual Tuning*

21. PID Example code

22. Ingredients (NA) Quick, effective mechanisms ( ) Easy to edit ( ) Use sensors (closed loop control) Appropriate sensors to help your robot account for inconsistencies in field, setup, game pieces, battery level, etc.

23. SENSORS

24. Sensors - Encoder

25. Sensors - Encoder Places to use encoders: When trying to measure rotational speed Trying to measure rotational distances possibly greater than 8 rotations. Don t care about starting position

26. Sensors - Encoder Places to use encoders: When trying to measure rotation speed Trying to measure rotational distances possibly greater than 8 rotations. Don t care about starting position Examples: Drive train Fly Wheel/wheeled shooter

27. Sensors - Encoder Reading

28. Sensors - Encoder Control

29. Sensors - Potentiometer

30. Sensors - Potentiometer Places to use potentiometers: Trying to measure rotational distances less than 8 rotations. Care about starting position or absolute positions Examples: Arm angles Elevator positions

31. Sensors - Potentiometer Control

32. Sensors - Potentiometer Note: Easy way to make potentiometer relative to a known point: https://www.frclabviewtutorials.com/tutorials/sensors/roborio/pot entiometer/

33. Sensors - Gyro

34. Sensors - Gyro Places to use a Gyro: When trying to drive perfectly straight When trying to turn to specific angles (especially in auto)

35. Sensors - Gyro Control

36. Sensors - Vision Demo

37. Sensors - Other https://www.frclabviewtutorials.com/tutorials/sensors/dashboar d/arduino/

38. Demo

39. Questions