0x0C452 is the name of my team in CSCE 452 (Introduction to Robotics and Spatial Intelligence) for Spring 2013. The team consists of 5 members and we worked on various projects together throughout the entire semester. Our projects consisted of creating 2D “paint bots” with both forward and inverse kinematic implementation, controlling our paint bot through telecommunication, creating a Braitenberg vehicle simulator, and making a path finder using cell decomposition.
All of our projects were coded in c++. Out of 5 projects, 3 of them used the FLTK GUI library, and the other two utilized OpenGL.
A team website was created for our projects, which contains details, screenshots, source code, activity logs, task allocation lists and grades for each project.
CSCE 452 focused more on the understanding of robotics. It did not teach us anything that would necessarily improve our coding skills. As a result, when we were presented with a project that we had to code, we often times had no idea how to approach it. As a team, we were able to along well and collaborate in order to find solutions for any problem that was presented to us.
— Project 1: PaintBot – Forward Kinematics
— Project 2: PaintBot – Inverse Kinematics
— Project 3: PaintBot – Teleoperation with Time Delay
— Project 4: Braitenberg Vehicles
— Project 5: Robot Motion Planning
— Project 1 and 2: Self-explanatory. Play around with them. (Tip: holding the space bar down will repeatedly press the last button that you clicked.)
— Project 3: Run the server version first and then the client version. Enter the IP address (“localhost” if running both on the same machine) and the client will connect to the host. Once connected, both will display a window. Use the server window to control the robot and the changes will be reflected on both windows.
— Project 4: Configure input.txt. Each line represents a car: x-position, y position, starting rotation (degrees, 0-360), and K values. There are 4 K values: sensor 1 to wheel 1, sensor 2 to wheel 1, sensor 2 to wheel 1, and sensor 2 to wheel 2. When running the program, left click adds a light, right click clears all lights.
— Project 5. Left click three times to create 3 boxes. The next two clicks define the starting and ending positions. If a path exists, the program will try to find the shortest path. Right click to clear.