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mode 100644 index 0000000..cbb008f --- /dev/null +++ b/lessons/pure-pursuit/anim/dancing.gif Binary files differ diff --git a/lessons/pure-pursuit/img/ppt_1d.png b/lessons/pure-pursuit/img/ppt_1d.png new file mode 100644 index 0000000..35b18b4 --- /dev/null +++ b/lessons/pure-pursuit/img/ppt_1d.png Binary files differ diff --git a/lessons/pure-pursuit/img/ppt_4c.png b/lessons/pure-pursuit/img/ppt_4c.png new file mode 100644 index 0000000..7774caf --- /dev/null +++ b/lessons/pure-pursuit/img/ppt_4c.png Binary files differ diff --git a/lessons/pure-pursuit/notes.tex b/lessons/pure-pursuit/notes.tex new file mode 100644 index 0000000..f617b12 --- /dev/null +++ b/lessons/pure-pursuit/notes.tex @@ -0,0 +1,12 @@ +\documentclass[handout]{beamer} +\usetheme{Berlin} +\usecolortheme{beaver} + +\AtBeginSection +{ + \begin{frame}{Table of Contents} + \tableofcontents[currentsection] + \end{frame} +} + +\input{src/main} diff --git a/lessons/pure-pursuit/printable.tex b/lessons/pure-pursuit/printable.tex new file mode 100644 index 0000000..91bbb04 --- /dev/null +++ b/lessons/pure-pursuit/printable.tex @@ -0,0 +1,6 @@ +\documentclass[handout]{beamer} + +\usepackage{pgfpages} +\pgfpagesuselayout{2 on 1}[a4paper, border shrink=0.25in] + +\input{src/main} \ No newline at end of file diff --git a/lessons/pure-pursuit/slides.tex b/lessons/pure-pursuit/slides.tex new file mode 100644 index 0000000..01a80c0 --- /dev/null +++ b/lessons/pure-pursuit/slides.tex @@ -0,0 +1,5 @@ +\documentclass{beamer} +\usetheme{Berlin} +\usecolortheme{beaver} + +\input{src/main.tex} diff --git a/lessons/pure-pursuit/src/follow.tex b/lessons/pure-pursuit/src/follow.tex new file mode 100644 index 0000000..44fba9b --- /dev/null +++ b/lessons/pure-pursuit/src/follow.tex @@ -0,0 +1,46 @@ +\subsection{Following Paths} +\begin{frame}{Following The Path} + +\end{frame} + +\begin{frame}{Closest Point} + +\end{frame} + +\begin{frame}{Lookahead Point} + +\end{frame} + +\begin{frame}{Curvature of the Arc} + +\end{frame} + +\begin{frame}{Wheel Velocities} + +\end{frame} + +\begin{frame}{Controlling the Wheels} + +\end{frame} + +\subsection{Tuning the Speed Controls} +\begin{frame}{Tuning the Speed Controls} + +\end{frame} + +\begin{frame}{Feed Forward Velocity} + +\end{frame} + +\begin{frame}{Feed Forward Acceleration} + +\end{frame} + +\begin{frame}{Proportional Feed Back} + +\end{frame} + +\begin{frame}{Stopping the Robot} + +\end{frame} + diff --git a/lessons/pure-pursuit/src/generate.tex b/lessons/pure-pursuit/src/generate.tex new file mode 100644 index 0000000..9025bb2 --- /dev/null +++ b/lessons/pure-pursuit/src/generate.tex @@ -0,0 +1,41 @@ +\subsection{Generating Paths} +\begin{frame}{Generating Paths} + +\end{frame} + +\begin{frame}{Drawing an Outline} + +\end{frame} + +\begin{frame}{Injecting Points} + +\end{frame} + +\begin{frame}{Smoothing the Path} + +\end{frame} + +\begin{frame}{Point Distances} + +\end{frame} + +\subsection{Curvatures and Velocity} +\begin{frame}{Curvatures and Velocities} + +\end{frame} + +\begin{frame}{Curvature} + +\end{frame} + +\begin{frame}{Velocity} + +\end{frame} + +\begin{frame}{Calculations} + +\end{frame} + +\begin{frame}{Rate Limiter} + +\end{frame} diff --git a/lessons/pure-pursuit/src/intro.tex b/lessons/pure-pursuit/src/intro.tex new file mode 100644 index 0000000..15c96c2 --- /dev/null +++ b/lessons/pure-pursuit/src/intro.tex @@ -0,0 +1,63 @@ +\begin{frame}{Introduction} + \begin{itemize} + \item An overview of Pure Pursuit as used by team 1712 during the 2018 + season + \item Archietectural and Mathematical overview. Staying away from code + \item Please raise your hand to ask questions as you have them. + \end{itemize} +\end{frame} + +\begin{frame}{Brief History} + \begin{itemize} + \item 16 Possible Paths + \item Pure Pursuit Algorithm + \item File-Encoded Routines + \end{itemize} +\end{frame} + +\begin{frame}{16 Possible Paths} + \includegraphics[width=\textwidth]{img/ppt_4c.png} +\end{frame} + +\begin{frame}{16 Possible Paths} + \includegraphics[width=\textwidth]{img/ppt_1d.png} +\end{frame} + +\begin{frame}{What is Pure Pursuit} + \begin{itemize} + \item Path Generator \pause + \item JSON based File Encoding \pause + \item Path Follower \pause + \item \textbf{Really Complicated Algorithm} + \end{itemize} + \begin{block}{Analogy} + Think of path generation as \textbf{drawing a virtual line}.\\ + And think of path following as \textbf{walking along the virtual line}. + \end{block} +\end{frame} + +\subsection{Odometry} + +\begin{frame}{Odometry} + \begin{itemize} + \item Use sensors to track the location of the robot + \item Plot on a Cartesian Plain + \item Pure Pursuit requires accuracy + \end{itemize} +\end{frame} + +\begin{frame}{Importance of Odometry} + \animategraphics[loop,width=\textwidth]{10}{anim/dancing-}{0}{146} +\end{frame} + +\begin{frame}{Sensors involved} + \begin{itemize} + \item Rotary Encoders (one on each side of the drive train) + \item NavX MXP for accurate angle +\end{frame} + +\begin{frame}{Odometric Calculations} + +\end{frame} + + diff --git a/lessons/pure-pursuit/src/main.tex b/lessons/pure-pursuit/src/main.tex new file mode 100644 index 0000000..5cd2e29 --- /dev/null +++ b/lessons/pure-pursuit/src/main.tex @@ -0,0 +1,31 @@ +\usepackage{amsmath} +\usepackage{amssymb} +\usepackage{graphicx} +\usepackage{animate} +\usepackage[normalem]{ulem} +\usepackage{wrapfig} +\usepackage{pgfplots} +\usepackage{hyperref} + +\title{Adaptive Pure Pursuit} +\author{Ethan Frank \and Kimberlee I. Model \and Paul Gehman} +\institute{Dawgma Robotics} +\logo{\includegraphics[width=0.32in]{../DawgmaLogo.png}} +\begin{document} + + \frame{\titlepage} + + \begin{frame}{Table of Contents} + \tableofcontents + \end{frame} + + \section{Introduction} + \input{src/intro.tex} + + \section{Generating A Path} + \input{src/generate.tex} + + \section{Following A Path} + \input{src/follow.tex} + +\end{document}