Intelligent Holonomic Robot

birdseye.mov

live_example.mp4

Tracker

Computer Vision Program "detection.py":

• finds the 2d arena where the robot maneuvers
• finds the robot an enemy locations and rotations in the 2d plane while accounting for height
• finds the item's and their locations in the 2d plane while accounting for their height

Pathfinding Algorithms "pathfinder.py":

• creates graph of all possible paths, not allowing paths through enemies
• weighs paths by length and distance to enemies
• gets best possible path
• generates X, Y, and rotaion velocities relative to the rotation of the robot which are porportional to the distance from the robot

Algorithm Visualiser "visualiser.py":

• visualises all items in sight
• displays robot rotation
• displays the X, Y, and rotation velocity being given to the robot

Client Program "main.py"

• connects to the robot
• runs all appropriate code in order to instruct the robot

Bot

Raspberry Pi Server "server.py"

• receives instructions from tracker
• sends instructions to onboard arduino

Arduino

Omniwheel Motor Control "arduino.py"

• receives instructions from the raspberry pi
• calculates holonomic drive
• controls the motors with appropriate accelaration