ROBOTICA DE SERVICIO

 INTRODUCTION   The objective of this practice is to implement the logic that allows an Ackermann car to park in line autonomously.  In this post I am going to include just solutions with Ackermann car using RADI ROS2 since the difference with the Holonomic car are its movement dynamics; which are easier to work with using Holonomic car. Along this explanation, I am going to cover the following topics: Parse laser  State 1: Align State 2: Find space  State 3: Move ahead State 4: Turn  State 5: Go back State 6 and 7: Park maneuvers   PARSE LASER Throughout the entire exercise, it will be necessary to handle the three lasers in different stages to successfully execute the task assigned to them. Therefore, I have deemed it necessary that within the laser values, if they fall within the minimum and maximum range, they should be stored in a secondary array that includes, at a position, (dist, angle), where "dist" represents the laser distance , and "angle...

    INTRODUCTION The objective of this practice is to implement the logic that allows a quad-rotor to recognize the faces of lost people and save their locations in order to perform a subsequent rescue maneuver. Besides, the quad-rotor batteries are limited and each 10 minutes, the quad-rotor should come back to charge again. Along this explanation, I am going to cover the following topics: Coordinates conversion: from GPS to UTM State Machine -> Phase 1: Take off State Machine -> Phase 2: Go to survivors State Machine -> Phase 3: Finding people State Machine -> Phase 4: Go to boat State Machine -> Phase 5: Recharging State Machine -> Phase 6: Landing Video  Conclusion   COORDINATES CONVERSION: FROM GPS TO UTM In this exercise, it is given GPS coordinates from boat position and the estimated survivors positions. Using the online conversor we can get the following UTM coordinates:  Boat: 40º16’48.2” N , 3º49’03.5” W   ->...