beetle repository

beetle repository

beetle repository

Repository Summary

Checkout URI https://github.com/khanh93vn/beetle.git
VCS Type git
VCS Version main
Last Updated 2022-12-14
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

# Giới thiệu

Đây là trang mã nguồn phần mềm cho xe tự hành Beetle.

# Thông tin tra cứu
- Mô hình mô phỏng của xe và nhiễu cảm biến nằm trong tập tin beetle_description/urdf/beetle.urdf
- Tất cả thông số cài đặt của hệ nằm trong tập tin beetle_navigation2/config/navigation_params.yaml
- Cây hành vi dạng xml được lưu trong beetle_navigation2/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml

# Các gói phần mềm
- ackermann_drive_controller - mã nguồn bộ điều khiển động học cho xe kiểu Ackermann
- beetle_description - chứa mô hình mô phỏng xe
- beetle_gazebo - mô phỏng và bộ điều khiển động học
- beetle_navigation2 - hệ thống phần mềm xe và thông số
- beetle_evaluation - tự động hóa việc chạy và ghi chép thí nghiệm

# Video mô phỏng

video::4-hwlQGGhbk[youtube]

https://www.youtube.com/watch?v=4-hwlQGGhbk

# Kết quả thí nghiệm
[cols="^.^,^.^,^.^,^.^,^.^,^.^,^.^,^.^,^.^,^.^,^.^,^.^,^.^"]
|===
.2+|i .2+|d~i~ .2+|φ~i~ .2+|Δθ~i~ 3+|Lần 1 3+|Lần 2 3+|Lần 3
|Δt~i~ |ε~di~ |ε~θi~ |Δt~i~ |ε~di~ |ε~θi~ |Δt~i~ |ε~di~ |ε~θi~
|1 |2,5m |0° |0° |53s |0.43m |6° |6s |0.47m |4° |8s |0.3m |3°
|2 |2,5m |0° |45° |34s |0.42m |5° |9s |0.47m |6° |8s |0.46m |7°
|3 |2,5m |0° |90° |26s |0.44m |6° |15s |0.12m |8° |13s |0.19m |5°
|4 |2,5m |0° |135° |18s |0.47m |7° |17s |0.43m |4° |18s |0.38m |10°
|5 |2,5m |0° |180° |19s |0.53m |9° |26s |0.45m |7° |47s |0.41m |6°
|6 |2,5m |0° |225° |17s |0.31m |1° |21s |0.43m |1° |14s |0.58m |3°
|7 |2,5m |0° |270° |14s |0.15m |0° |18s |0.57m |1° |20s |0.92m |0°
|8 |2,5m |0° |315° |8s |0.66m |2° |9s |0.47m |2° |11s |0.34m |3°
|9 |2,5m |300° |0° |16s |0.53m |4° |16s |0.63m |1° |18s |0.79m |7°
|10 |2,5m |300° |45° |21s |0.77m |8° |16s |0.9m |7° |14s |0.53m |6°
|11 |2,5m |300° |90° |34s |0.67m |4° |24s |0.82m |1° |22s |0.5m |2°
|12 |2,5m |300° |135° |15s |0.69m |3° |17s |0.29m |0° |15s |0.99m |2°
|13 |2,5m |300° |180° |33s |0.8m |2° |33s |0.29m |2° |32s |0.51m |2°
|14 |2,5m |300° |225° |11s |0.45m |2° |16s |0.72m |1° |17s |0.47m |5°
|15 |2,5m |300° |270° |10s |0.33m |2° |9s |0.79m |4° |8s |1.09m |5°
|16 |2,5m |300° |315° |24s |0.65m |6° |22s |0.51m |7° |16s |0.21m |5°
|17 |2,5m |240° |0° |19s |0.37m |1° |17s |0.44m |4° |19s |0.6m |1°
|18 |2,5m |240° |45° |16s |0.28m |6° |23s |0.25m |2° |15s |0.27m |6°
|19 |2,5m |240° |90° |18s |0.1m |1° |19s |0.11m |6° |24s |0.27m |5°
|20 |2,5m |240° |135° |11s |0.13m |5° |11s |0.24m |3° |11s |0.2m |2°
|21 |2,5m |240° |180° |31s |0.19m |1° |30s |0.23m |2° |28s |0.21m |1°
|22 |2,5m |240° |225° |25s |0.2m |6° |26s |0.16m |4° |28s |0.1m |0°
|23 |2,5m |240° |270° |25s |0.03m |2° |29s |0.22m |6° |31s |0.19m |4°
|24 |2,5m |240° |315° |18s |0.41m |5° |30s |0.47m |2° |19s |0.89m |4°
|25 |2,5m |180° |0° |19s |0.66m |5° |7s |0.22m |0° |7s |0.22m |3°
|26 |2,5m |180° |45° |27s |0.76m |0° |10s |0.95m |4° |12s |0.67m |5°
|27 |2,5m |180° |90° |15s |0.22m |5° |13s |0.42m |6° |67s |1.62m |3°
|28 |2,5m |180° |135° |20s |1.14m |7° |14s |1.38m |5° |15s |1.44m |5°
|29 |2,5m |180° |180° |37s |1.47m |1° |29s |1.56m |7° |32s |0.99m |1°
|30 |2,5m |180° |225° |18s |1.33m |1° |20s |0.96m |1° |29s |1.16m |8°
|31 |2,5m |180° |270° |20s |1.13m |1° |20s |1.22m |2° |23s |0.87m |0°
|32 |2,5m |180° |315° |12s |0.83m |2° |23s |0.91m |1° |20s |0.92m |3°
|33 |5m |0° |0° |61s |0.1m |2° |13s |0.37m |3° |12s |0.28m |0°
|34 |5m |0° |45° |59s |0.58m |7° |18s |0.88m |8° |23s |0.83m |5°
|35 |5m |0° |90° |29s |0.34m |3° |34s |0.51m |7° |18s |0.73m |7°
|36 |5m |0° |135° |22s |0.91m |5° |23s |0.31m |8° |22s |0.76m |9°
|37 |5m |0° |180° |29s |0.36m |1° |43s |0.55m |7° |23s |0.81m |5°
|38 |5m |0° |225° |25s |0.14m |1° |58s |0.83m |10° |21s |1.03m |3°
|39 |5m |0° |270° |22s |0.78m |1° |21s |0.84m |5° |20s |0.99m |4°
|40 |5m |0° |315° |18s |0.91m |4° |21s |0.69m |0° |23s |0.59m |3°
|41 |5m |300° |0° |21s |0.62m |8° |36s |0.39m |4° |20s |0.39m |7°
|42 |5m |300° |45° |23s |0.57m |10° |23s |0.58m |9° |23s |0.55m |6°
|43 |5m |300° |90° |26s |0.44m |8° |57s |0.52m |1° |31s |0.73m |2°
|44 |5m |300° |135° |40s |0.63m |7° |35s |0.68m |5° |25s |0.73m |1°
|45 |5m |300° |180° |22s |0.87m |2° |23s |0.45m |1° |24s |0.81m |2°
|46 |5m |300° |225° |20s |0.55m |3° |20s |0.93m |2° |14s |0.88m |3°
|47 |5m |300° |270° |17s |0.67m |6° |24s |0.94m |5° |13s |1.16m |4°
|48 |5m |300° |315° |30s |1.07m |6° |44s |1.05m |7° |20s |0.89m |5°
|49 |5m |240° |0° |31s |0.75m |8° |34s |0.64m |5° |32s |0.82m |9°
|50 |5m |240° |45° |48s |0.7m |5° |46s |0.88m |6° |36s |0.61m |1°
|51 |5m |240° |90° |35s |0.43m |1° |16s |0.36m |6° |18s |0.49m |7°
|52 |5m |240° |135° |31s |0.84m |2° |39s |0.65m |1° |27s |0.66m |1°
|53 |5m |240° |180° |23s |0.94m |1° |23s |0.61m |6° |25s |0.94m |4°
|54 |5m |240° |225° |28s |0.72m |7° |49s |0.64m |1° |40s |0.98m |1°
|55 |5m |240° |270° |31s |0.84m |7° |30s |0.75m |4° |36s |1.32m |7°
|56 |5m |240° |315° |39s |1.26m |4° |57s |1.29m |7° |52s |1.09m |6°
|57 |5m |180° |0° |17s |1.27m |6° |47s |1.48m |5° |20s |1.56m |7°
|58 |5m |180° |45° |22s |1.48m |4° |26s |1.87m |5° |36s |1.65m |3°
|59 |5m |180° |90° |38s |1.37m |5° |22s |1.57m |2° |16s |1.62m |2°
|60 |5m |180° |135° |40s |1.39m |1° |32s |1.21m |1° |33s |1.33m |3°
|61 |5m |180° |180° |39s |1.3m |1° |40s |1.55m |5° |52s |1.38m |2°
|62 |5m |180° |225° |33s |1.44m |5° |55s |1.3m |2° |33s |1.41m |6°
|63 |5m |180° |270° |17s |1.28m |2° |35s |1.09m |7° |38s |1.1m |7°
|64 |5m |180° |315° |14s |1.06m |2° |14s |0.93m |1° |30s |0.83m |5°
|===


CONTRIBUTING

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beetle repository

beetle repository

beetle repository

beetle repository

beetle repository

beetle repository

beetle repository

beetle repository

beetle repository

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beetle repository

beetle repository

beetle repository

beetle repository

beetle repository