Here, we will build a HolA Bot for deployment in an arena which is an abstraction of different settings in a Smart City. To enable the robot to do more complex art, the teams will explore an exciting type of mobile locomotion, known as Holonomic Drive. Unlike the usual, more popular differential drive robots, the holonomic drive robots can control all the three degrees of freedom possible on a plane (translation along the x, y-axis and rotation along the z-axis). This gives the robot the ability to make art that would otherwise not be possible with the usual two-wheeled differential drive robot.
- Complete Implementation of controller in ROS/Gazebo
- Understanding Holonomic Drive
- Hardware Design and Assembly
- Overcoming design challenges
- Writing a controller on ESP-IDF for esp32-wroom
- Making a controller on e-YFi Mega using Arduino IDE
- Configuring A4988 and DRV stepper motor drivers for the bot
- Understanding various concepts of OpenCV and implementation
- Using perspective Transform
- Using WebSocket for waypoint transfer as well as for the transfer of current coordinates