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The Design and Implementation of an Autonomous Mars Rover that has full mapping, remote control and power management capabilities.

TeX 1.99% C++ 3.36% JavaScript 0.05% Python 0.08% HTML 0.74% CSS 0.13% MATLAB 0.16% Mathematica 0.02% Verilog 18.86% SystemVerilog 8.27% Batchfile 0.02% Shell 0.17% C 44.89% Makefile 8.73% Assembly 2.96% GDB 0.07% VHDL 9.50% Scheme 0.01%

mars rover autonomous-driving smps esp32-arduino de10-lite arduino optical-flow reactjs nodejs

autonomous-rover's Introduction

Engineering Design Project MARS Rover

This repository contains the work done by Georgios Chaimalas, Dimitrios Georgakopoulos, Edvard J. Skaarberg Holen, Hyunjoon Jeon, Josiah Mendes and Raghav Viswakumar for module ELEC50003/ELEC50008 - Computer Engineering / Engineering Design Project 2 (Summer 2020-2021) as part of the second year curriculum in Electrical and Electronic Engineering or Electronic and Information Engineering at Imperial College London.

Project Description

The aim of the Mars Rover Project as outlined by our organisers is as follows: “To design and build an autonomous rover system that could be used in a remote location without direct supervision. The rover will have a processing unit that is capable to receive movement commands and send status data. In doing this it needs to detect and avoid obstacles in its working area. Over time the rover should be able to build a map of its local working area (including those obstacles) on an offsite data store. A charging station will be also designed and implemented to charge the batteries used to power up the rover."

To fulfil this broad goal, the design and development of the rover is separated into six distinct subsystems: Command, Control, Drive, Energy, Integration and Vision, each of which will be led by a single team member. These modules will work semi-independently to achieve the functional requirements as defined by the problem and eventually integrate their findings and goals to achieve the goals set out by the specification at hand. We will work under the main consideration that our rover is meant to be a proof of concept for one that could function on Mars. This repository contains our design process for the rover, how it was implemented and challenges that were faced. The diagram belows shows a high level overview of the design, including the main hardware components and the connections between subsystems.

A short demonstration of the Rover working is also shown in the following video.

MarsRover2021Video_Group1.mp4

For more detailed information about how the Rover was designed and implemented, please refer to the Full Report.

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Resources + Ideas Thread for Vision

Just a thread for project management and recording how much time was spent for documentation in report.

Also to save ideas and figure out what functional and non-functional requirements there are for Vision.

Useful Links:

Provided Example for Camera: https://github.com/edstott/EEE2Rover.
- Video output from example: https://youtu.be/PopaFoKaFRg

Functional Requirements

Ping Pong Ball detection (colour based) see 46 on Piazza
Terrain boundary detection, use optical sensor to map an area defined by command
Sending Commands to Drive (need more info on interfacing)
Receive commands from Command via ESP32?? (Need to clarify with Command and Control)

Resources + Ideas Thread for Energy

Resources + Ideas Thread for Control

A thread outlining the initial research and understanding process of the control subsystem as well as what may be some functional requirements that are expected.

Useful Links:

Material from Spec
- (13/05) Provided the ESP32 Datasheet
- (17/05) Provided connections between ESP32 and Arduino Adaptor Board which is connected to the FPGA
- (17/05) Provided document about how to install ESP32 board on the python IDE
Personal Research
- (11/05) Link explaining communication protocols which are present in ESP32: https://www.seeedstudio.com/blog/2019/09/25/uart-vs-i2c-vs-spi-communication-protocols-and-uses/
- (11/05) Video which succinctly explains the ESP32 as well as provides some example scripts to run on the device: https://www.youtube.com/watch?v=xPlN_Tk3VLQ
- (13/05) Link explaining how to use the ESP32 as a WIFI Access Point (WAP), allowing it to create its own private network which devices can connect to access a web browser through port 80 (http) and the corresponding http code:
  https://randomnerdtutorials.com/esp32-access-point-ap-web-server/
- (14/05) Link explaining the ESP32 and how it can be configured to set up a TCP web server which sends and receives unencrypted commands through port 23 (telnet):
  https://www.megunolink.com/articles/wireless/talk-esp32-over-wifi/
- (14/05) Link explaining how the arduino uses inbuilt serial communication commands to communicate via UART: https://www.circuitbasics.com/how-to-set-up-uart-communication-for-arduino/
- (17/05) Link explaining the pins available to the ESP32 as well as what each GPIO pin should be used for: https://randomnerdtutorials.com/esp32-pinout-reference-gpios/
- (18/05) Link explaining the Arduino Wifi.h library in detail:
  https://www.arduino.cc/en/Reference/WiFi
- (20/05) Link explaining how to set up TCP using sockets in python:
  https://realpython.com/python-sockets/#tcp-sockets
- (20/05) Link explaining how to use ESP32 as a TCP client with a python TCP server:
  https://techtutorialsx.com/2018/05/17/esp32-arduino-sending-data-with-socket-client/
- (20/05) Link explaining how to use base Arduino IDE and library to be able to interface with separate UART ports on ESP32:
  https://circuits4you.com/2018/12/31/esp32-hardware-serial2-example/
- (30/05) Link explaining how to serially communicate with Arduino through python code:
  https://www.instructables.com/Sending-Data-From-Arduino-to-Python-Via-USB/

Functional Requirements

These are very vague at the moment and will likely be updated

ESP32 acts as the hub for data, receiving and transmitting data between all subsystems and acting as an access point for Command
ESP32 uses Wifi Access Point capabilities or Stationary capabilities in order to interface with Command website/app through socket level data communication

Useful Links:

Tutorial on how to create a MERN stack: https://medium.com/swlh/how-to-create-your-first-mern-mongodb-express-js-react-js-and-node-js-stack-7e8b20463e66
Detailed API reference for the React component class definition: https://reactjs.org/docs/react-component.html
Tutorial on how to create a web server in node.js with the http protocol: https://www.digitalocean.com/community/tutorials/how-to-create-a-web-server-in-node-js-with-the-http-module

Functional Requirements

To be updated as time goes

Create a web or mobile dashboard to control the rover remotely and receive information from the different subsystems.
A web application using node js and mongodb as backend and react js as frontend to communicated with the rover.

josiahmendes / autonomous-rover Goto Github PK

autonomous-rover's Introduction

Engineering Design Project MARS Rover

Project Description

autonomous-rover's People

Contributors

Stargazers

Watchers

Forkers

autonomous-rover's Issues

Useful Links:

Functional Requirements

Useful Links:

Functional Requirements

Useful Links:

Functional Requirements

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