Kupe

    Overview

Kupe Planning

    Background

Software Development

            The (current) content of the kupe directory:

            Examples of test files:

            Examples of versions files:

Kupe Chassis Design

    The Basic Frame

    Motor Mounting

Motors and Wheels

        Option 1: Four Wheel Drive

        Option 2: Two wheel drive with leading/trailing castors

    Drive Configuration Decisions

    Wheels

    Motors

        Mounting Wheels on the Motors

Motor Drivers

Construction Techniques

    Wiring

        Wiring Looms

        Wire labelling

    Board Mounting Solutions

Power Distribution

    Power

    Power Distribution Board

    Powering the Raspberry Pi

Radio Control

    Radio Control Components

        Radio Control Receiver

        Radio Control Transmitter

    Wiring the RC Receiver to the Arduino

        Loom Wiring

Telemetry

    XBee Modules

        Serial Communications

Raspberry Pi Hardware

    Background

        Powering the Pi

        Mounting the Pi

    Cameras

        Mounting the Cameras

Mowing and Search Algorithms

    Coverage Path Planning

Roadmap and Implementation Phases

    Phase 1: Traversing a Virtual Map

    Phase 2: Add Obstacle Avoidance

    Phase 3: Experiment with OpenCV - Camera

    Phase 4: Using April Tags

    Phase 5: Real world map to virtual map and vice-versa

    Phase 6: Interfacing Pi with Arduino

    Phase 7: Monocular Odometry

    Phase 8: Compass - planning and correction

    Phase 9: Sensor Merging - Kalman filtering

    Phase 10: Monocular Visual Odometry, April Tags and Compass

    Phase 11: Stereo Visual Odometry

    Phase 12: Reworking the compass - move to arduino

    Phase 13: Monocular to Stereo Visual Odometry

    Phase 14: Merging Stereo Visual Odemtry with April Tags and Compass

    Phase 15: Generating the map - SLAM research

    Phase 16: Visual SLAM vs LIDAR

Phase 1: Traversing a Virtual Map

        Here are the Phase 1 aims:

        Here is the software package structure:

        Here is some pseudocode of the approach taken:

        Here is the resulting plot

Phase 2: Add Obstacle Avoidance

        Here are the Phase 2 aims:

            A few notes on map representation

        Here is some pseudocode of the approach taken:

        Here is a plot testing A-star only

        Here is a plot testing a hybrid (CPP/A-star) solution

Phase 3: Camera and OpenCV Research

        Phase 3 Aims

    Camera Software

        Using Picamera2 to capture an image

        Using OpenCV to display a captured image

Visual Odometry

    Monocular Visual Odometry

        Limitations with Monocular Visual Odometry

        Proposed solution for kupe with Monocular VO:

    Stereo Visual Odometry

        Proposed solution for kupe with Stereo VO:

Appendix - Kupe Wiring Loom Connections