-
-
Notifications
You must be signed in to change notification settings - Fork 2
Key Detection
John edited this page Sep 24, 2024
·
1 revision
Context: In the ES mission we must be able to autonomously type on a keyboard.
Problem: Manually aligning with a face on the lander is difficult.
Solution: Use the ZED to detect the closest face on the lander. Run a control loop to align the rover heading with the normal of that face.
- Downsample the point cloud so it is faster to process
- Filter out all points which have normal z-components far away from zero, this will remove the ground
- Run RANSAC to fit a plane to the closest plane on the lander
- Acquire the normal vector, use closed loop control to align the heading of the rover with the normal
Interface (subject to change): Use a action server to run a closed loop control algorithm, implementing a nonlinear feedforward plus feedback control law.
TODO