Page History

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SUMMARY OF CHANGES

Note about CPS usage. Since CPS now compute and send the 2D speed to cars, AndreaCPS is not compatible to previous versions of ca2 versions. Viceversa my ca2 is not compatible with previous version versions of CPS. This is because the communication protocol between CPS and ca2 is now a little bit different. In general I would suggest using AndreaCPS instead of KevinCPS or LeoCPS . This because of the bug that involved the initial target detection. I did not check CPS versions that are previous to KevinCPS but it is likely that those versions do not have this bug since computer 1 and 2 do not send their information to computer 0 before sending them to cars.

• ca2:
  • grouped utility functions in a separate folder that is shared with the simulator. This makes the code more modular.
  ca2: partially
  • implemented a
  Kalman filter in the attempt to remove part of the measurement noise of cameras. The model must be refined for it to prove its real effectiveness.ca2: implemented a
  • new target detection algorithm that allow the car to work with the path with lots of points.
  ca2:
  • steer controller has been reworked, the monodimensional speed has been substituted by the one read from the encoder, the PD has been calibrated and a path-dependent compensator has been added.
  ca2: modified paths to add compensator directives
  • The compensator can be configured through the path specification file (See #COMPENSATOR DIRECTIVES).
  ca2:
  • implemented a new filter for the heading measure to cancel the effect of leaps (See #HEADING FILTERING).
  ca2:
  • set the limit of steer input to (-100,100) since the curvature radius saturates above it.
• CPS:
  • fixed a bug that affected the initial target dectection for cars that were not tracked by computer 0.
  CPS:
  • now compute and send also the 2D speed of the cars. This is likely to be needed for the predictor in the future. See also section #CPS MEASURED 2D SPEED.
  CPS:
  • implemented linear error correction for the computation of camera position. This visibly improves the path following of cars. See section #CAMERA MEASUREMENT ERROR CORRECTION.

C UTILITIES

CA2

SIMULATOR

Implemented a simulator in C for Linux. This is integrated with the code used on cars (ca2). It simulates the cars dynamics and the behavior of the Camera Positioning Systems (CPS). Besides being very useful to verify the system model, it makes easy to test changes to code and the controller before applying those changes to cars.

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