HAKO

Latest revision as of 11:03, 23 October 2012

...
<motioncontrol
  ts           ="0.1"
  line_gain    ="0.1"
  line_tau     ="0"
  line_alfa    ="0.04"
  wall_gain    ="1"
  wall_tau     ="0.7"
  wall_alfa    ="0.2"
  drive_kdist  ="1.0"
  drive_kangle ="2.0"
  steer_delay  ="0.5"
  steer_vel    ="0.61"
  gain         ="0"
  tau          ="0.16"
  alfa         ="0.2"
  w            ="0.26"
  robotlength  ="1.6"
  lim          ="0.57"
  stopdist     ="0.18"
  alarmdist    ="0.1"
  velcmd       ="0.5"
  acccmd       ="0.5"
  nolinedist   ="0.2"
  />
...

[edit] HAKO old mission manager

[edit] Start in browser

Browser with java enabled.

Connect to:

http://192.168.1.10/hako/applet/index.php

Hvis det er første gang, så download 'settings' fil nederst i vinduet, og placer i eget bibliotek som beskrevet. Restart browser.

Vælg så "Hako Control" øverst på php-siden.

Så forbinder java-applet til hakoclient, som starter RHD og MRC på hako-navigationscomputer.

Når forbindelse er etableret og GPS er i fix-mode er status grøn, og klar til at loade en mission.

[edit] files

On the HAKO1 computer the mission is placed at

/srv/httpd/htdocs/hako/applet/var/mission.xml

The logfiles can be found in

/srv/httpd/htdocs/hako/applet/log

The newest log is called log. the previous logfile is renamed to YYMMDD--HHMM-log at the time of the new mission.

The logfile has the following entries:

$xkalman
$ykalman
$thkalman
$gpseasting
$gpsnorthing
$odox
$odoy
$odoth
$odovelocity
$hakosteeringangle
$hakocvtpulses

The first log entry has values for $xkalman and $ykalman only. The next line has also $gpseasting $gpsnorthing and from the third line all values should be valid.

NB! the logging is started after the kalman-init period only (before 1 July 2010)

[edit] hakoclient

Is called smrdemoclient in the /srv/httpd/htdocs/hako/applet/run directory, but refers to hakoclient in the /home/ex05/src/smrdemo2ext/ directory.

hakoclient can be started manually with the mission XML file as parameter. This requires that the RHD and MRC (mrc -t1) is started manually. From the mission directory:

cd /srv/httpd/htdocs/hako/applet/var
../bin/smrdemoclient mission.xml

The hakoclient source is in the svn (version 1011 as of 30 jun 2010) updated to handle the following issues (based on NAA modifications to omegaturn):

Skipped the last drive on tight omega turns (in file turn_omega.c), to allow faster convergence to next no-turn leg.
Skipped the last turnr in a fishtail-turn (in functions.c) to allow faster convergence to next no-turn leg.
Reduced forward drive after first turnr to 20cm (from 0.7m) to make manoeuvre more smooth.
added a few comments, removed a few unused variables and modified 2 variables from 'int' to 'unsigned int' to remove warnings.
made a copy of 'stream2line.h' and '-.c' into hakoclient directory to make compilation independent of librobot.a in NAA home directory.

tested 1 july 2010 ad showed clear improvements for both turns.

[edit] New fishtail turn

New fishtail turn implemented (15 july 2010) to improve speed and looks:

Use two curved turns, one towards new row-line, one reverse with opposite angle. Curve length determined by inter-row distance.
Each turn is split in two, one with full speed (as defined in mission) and one while stopping using same turn radius. The stop distance is calculated from a speed change delay of 0.7 seconds and an acceleration of 0.65m/s^2.
After reversing the fishtail is ended, and should now aim for next row.
The row distance is now calculated as perpendicular distance to current row-line, that means that end of this row and start of next row may not be aligned, but rather fitted for positioning of tool-lifting/lowering

Further as a result of new kalman pre-init function, the hakoclient is modified to use GPS (UTM) position as kalman position if kalman-y (northing) is less then 1m. This is the case until robot has driven 0.5m, to get a reasonable initial heading. Test show that after further 2 seconds of updates (1m at 0.5m/s) the kalman filter heading is stable (on a fair GPS-coverage day at the lawn in Tåstrup).

[edit] hako 2 - Perception computer

Perception computer Is running AU robot servers and works as remote control server

Running linux slackware version 12.0 (as of 5 May 2009)

@@ Line 1: / Line 1: @@
+=== Video from autonomous Cherry Orchard drive in Tåstrup 2009 ===
+One of the autonomous drives in Tåstrup Cherry orchard, from front looking camera (fast replay), and from mission execution planner.
+(@todo: ret disse døde links)
+http://aut.elektro.dtu.dk:rse/hako-orchard2.avi
+http://server.elektro.dtu.dk/www/jca/mobotware/hako/cherry-20091014c.mpeg
+http://server.elektro.dtu.dk/www/jca/mobotware/hako/cherry-left-20091014c.mpeg
+http://aut.elektro.dtu.dk:rse/hako-orchard2.avi
+http://aut.elektro.dtu.dk:rse/Our%20pictures/karcher/TaskCycle.mpeg
 === software installation on HAKO ===
+=== hako 1 - Navigation computer ===
+The navigation computer is primarily running RHD and MRC
+Running linux slackware version 12.0 (as of 5 May 2009)
 ==== RHD ====
@@ Line 30: / Line 53: @@
 ==== MRC ====
+'''21 july 2010'''
-April 2009
+mrs moved to SVN and compiled here for Hako (on jensen)
-snapshot of MRC (from /vhome/naa/robot2005/src/) to my svn directory on jensen
 Changed path of librhd.a in Makefile in mrc subdirectory to:
-  LIBS= -lrobot -lm /vhome/jca/svn/rhd/branches/rhd2.0/build/lib/librhd.a \
+  LIBS=   -lpthread -lncurses -lexpat -liau_mat -lrobot -lm \
-      /vhome/naa/linux/smr/libsmr/libsmr.a \
+         ../../../rhd/branches/rhd2.0/build/lib/librhd.a \
-      -lpthread -lncurses -lexpat -liau_mat
+         ../../../aumat/trunk/libiau_mat.a \
+         ../libsmr/libsmr.a
 Reference to RHD rhd.h should have moved to
@@ Line 46: / Line 69: @@
   /usr/local/smr/include
-compiled MRC, and moved it to
+Moved to Hako using
-  scp mrc root@hako:hako/
+  scp mrc root@hako:hako/mrc20100723
-==== MRC configuration ====
+and made a new link in the hako directory
-April 2009
+ ln -s mrc20100723 mrc
+'''23 july 2010'''
+Changed motioncontrolcontrol (drive command) to compensate for delay in steering control. The new code is active only if the delay (steer_delay) is set to more than a sample time (ts="0.1").
+Two new items (steer_delay and steer_vel) in configuration file (calib/robot.conf):
+ ...
+ <motioncontrol
+   ts           ="0.1"
+   line_gain    ="0.1"
+   line_tau     ="0"
+   line_alfa    ="0.04"
+   wall_gain    ="1"
+   wall_tau     ="0.7"
+   wall_alfa    ="0.2"
+   drive_kdist  ="1.0"
+   drive_kangle ="2.0"
+   steer_delay  ="0.5"
+   steer_vel    ="0.61"
+   gain         ="0"
+   tau          ="0.16"
+   alfa         ="0.2"
+   w            ="0.26"
+   robotlength  ="1.6"
+   lim          ="0.57"
+   stopdist     ="0.18"
+   alarmdist    ="0.1"
+   velcmd       ="0.5"
+   acccmd       ="0.5"
+   nolinedist   ="0.2"
+   />
+ ...
+[[Image:sidestep-1m.png]]
+=== HAKO old mission manager ===
+====Start in browser====
+Browser with java enabled.
+Connect to:
+http://192.168.1.10/hako/applet/index.php
+Hvis det er første gang, så download 'settings' fil nederst i vinduet, og placer i eget bibliotek som beskrevet. Restart browser.
+Vælg så "Hako Control" øverst på php-siden.
+Så forbinder java-applet til hakoclient, som starter RHD og MRC på hako-navigationscomputer.
+Når forbindelse er etableret og GPS er i fix-mode er status grøn, og klar til at loade en mission.
+====files====
+On the HAKO1 computer the mission is placed at
+/srv/httpd/htdocs/hako/applet/var/mission.xml
+The logfiles can be found in
+/srv/httpd/htdocs/hako/applet/log
+The newest log is called ''log''. the previous logfile is renamed to ''YYMMDD--HHMM-log'' at the time of the new mission.
+The logfile has the following entries:
+ $xkalman
+ $ykalman
+ $thkalman
+ $gpseasting
+ $gpsnorthing
+ $odox
+ $odoy
+ $odoth
+ $odovelocity
+ $hakosteeringangle
+ $hakocvtpulses
+The first log entry has values for ''$xkalman'' and ''$ykalman'' only. The next line has also ''$gpseasting $gpsnorthing'' and from the third line all values should be valid.
+NB! the logging is started after the kalman-init period only (before 1 July 2010)
+====hakoclient====
+Is called smrdemoclient in the ''/srv/httpd/htdocs/hako/applet/run'' directory, but refers to ''hakoclient'' in the ''/home/ex05/src/smrdemo2ext/'' directory.
+hakoclient can be started manually with the mission XML file as parameter.
+This requires that the RHD and MRC (mrc -t1) is started manually.
+From the mission directory:
+ cd /srv/httpd/htdocs/hako/applet/var
+ ../bin/smrdemoclient mission.xml
+The hakoclient source is in the svn (version 1011 as of 30 jun 2010) updated to handle the following issues (based on NAA modifications to omegaturn):
+* Skipped the last drive on tight omega turns (in file turn_omega.c), to allow faster convergence to next no-turn leg.
+* Skipped the last turnr in a fishtail-turn (in functions.c) to allow faster convergence to next no-turn leg.
+* Reduced forward drive after first turnr to 20cm (from 0.7m) to make manoeuvre more smooth.
+* added a few comments, removed a few unused variables and modified 2 variables from 'int' to 'unsigned int' to remove warnings.
+* made a copy of 'stream2line.h' and '-.c' into hakoclient directory to make compilation independent of librobot.a in NAA home directory.
+tested 1 july 2010 ad showed clear improvements for both turns.
+====New fishtail turn====
+New fishtail turn implemented (15 july 2010) to improve speed and looks:
+* Use two curved turns, one towards new row-line, one reverse with opposite angle. Curve length determined by inter-row distance.
+* Each turn is split in two, one with full speed (as defined in mission) and one while stopping using same turn radius. The stop distance is calculated from a speed change delay of 0.7 seconds and an acceleration of 0.65m/s^2.
+* After reversing the fishtail is ended, and should now aim for next row.
+* The row distance is now calculated as perpendicular distance to current row-line, that means that end of this row and start of next row may not be aligned, but rather fitted for positioning of tool-lifting/lowering
+* Further as a result of new kalman pre-init function, the hakoclient is modified to use GPS (UTM) position as kalman position if kalman-y (northing) is less then 1m. This is the case until robot has driven 0.5m, to get a reasonable initial heading. Test show that after further 2 seconds of updates (1m at 0.5m/s) the kalman filter heading is stable (on a fair GPS-coverage day at the lawn in Tåstrup).
+=== hako 2 - Perception computer ===
-the Hako calibration parameters are in
+Perception computer
+Is running AU robot servers and works as remote control server
- /root/hako/calib/robot.conf
+Running linux slackware version 12.0 (as of 5 May 2009)

HAKO

Latest revision as of 11:03, 23 October 2012

Contents

[edit] Video from autonomous Cherry Orchard drive in Tåstrup 2009

[edit] software installation on HAKO

[edit] hako 1 - Navigation computer

[edit] RHD

[edit] MRC

[edit] HAKO old mission manager

[edit] Start in browser

[edit] files

[edit] hakoclient

[edit] New fishtail turn

[edit] hako 2 - Perception computer

Personal tools

Namespaces

Variants

Views

Actions

Search

Navigation

Toolbox