This project was developed in the class "An Introduction to Mobile Robotics" at Federal University of Alagoas. The goal of the system is to set:
- an initial frame location
- a final frame location
- and a final orientation (angles)
And the output expected is that the robot reaches the final location and pose following the established path (which is a simple straight line)
In the samples directory you can see some data as result of the experiments. It was used just a camera attached to the ceiling, color information for robot pose detection and a simple proportial (K) controller.
Fails: Many problems are due to color detection missing and latency in the network, since the camera is sending the frames for remote processing. A possible solution for this problem would be local processing on the camera's embbeded system and a more robust pose detection strategy.