Differences

This shows you the differences between two versions of the page.

--- autonomy [2022/09/23 00:58] – created jhagstrand
+++ autonomy [2023/01/12 11:30] (current) – removed jhagstrand
@@ Line 1: / Line 1: @@
-====== autonomy ======
-# sk8
-## Autonomy
-### Route Planning
-- start with 5 points placed at random
-- draw circle around each point
-- pick position on circle A at random
-- choose circle B at random
-- choose side of B: right or left
-- draw line tangential from A to B
-[[Skateboard Driving]]
-[[Navigation Trigonometry]]
-[[Navigation Steering]]
-[[OpenCV vs matplotlib]]
-### keep helm within turning radius
-  - how to convert turning_radius to min/max relative_bearing
-  - can you do a unit test, circling a skate around a cone
-    - too tight, it collapses into the cone
-    - too loose, it spirals off the page
-  - slow down for tight turns
-  - gradually speed up with each iteration
-### notes:
-  - random options cannot be used for unittests
-  - plot route as you go, ala billiards
-  - how many cones?  if event = barrel racing, find valid barrels and ignore the extraneous.
-  - why are we doing spiral?  why not unittest freestyle first?
-  - arena size and gate are passed by args only in sim mode
-  - turning radius can be adjusted by machine learning and should be saved with the skate id
-  - Course racing can have no more that 180 turns, no cloverleafs.  Cloverleafs are not possible with more than one skate on the track.
-### in normal live mode
-  - operator passes event name to computer
-  - all other info derived from camera
-  - if we do an afternoon of multiple events,
-    - do we restart the computer for each event?
-      - reset cones
-      - restart computer with new event name
-    - or
-      - let computer sit in a wait loop
-      - operator can restart with new event name
-### lap counter
-  - add lap counter
-  - frames, laps, elapsed, top speed
-  - start time, log with timer
-  - display all specs
-  - numlaps = 1
-    - freestyle
-      - lap concept is inadequate
-      - lap, do not return to finish gate until
-    - slalom laps, return to starting gate and begin again
-    - barrel laps
-    - slalom and barrel racing
-      - one lap, stop, begin again
-  - why are we doing laps?
-    - only course racing uses laps
-    - are we setting up for course racing?
-  - a freestyle lap (is this a lap?)
-    - choose pattern, stay 3 laps ahead
-    - choose cones and sides, depending on pattern
-### unittest one lap of freestyle
-  - pass specs from unittest to main loop, using saved game
-  - lap counter
-  - write loop with funky (optional)
-  - run one lap with trail, save final image, stop
-  - after each lap and event, skate returns to start orientation at gate
-### operator controls
-  - event name
-  - start
-  - stop - skate moves to gate, in start orientation
-  - kill - emergency stop everything
-### gates
-  - allow human skaters
-  - two gates, start and finish, may be the same with opposite orientation
-  - two points for each gate, right and left
-  -
-### style points
-  - aesthetics
-  - in route planning
-  - in piloting
-### patterns
-  - starting gate, speed between two cones to first cone
-  - finish gate, speed between two cones from last cone
-  - return to home (rth), land on a point.
-  - slalom, along a selected set of cones
-  - perimeter, around a selected set of cones
-  - spiral in, from and to selected cones
-  - spiral out, from and to selected cones
-  - three-leaf clover
-  - barrel race, three-leaf clover plus two gates
-  - figure 8, a set of two cones, or two groups of cones
-  - s-curve, half of a figure 8
-  - full course random, today's planRoute()
-  - course racing, static course with laps, and two gates
-  - freestyle, a chain of patterns, planned in advance, or chosen on the fly
-  - add imaginary points
-Event vs Pattern
-Pattern Recognition
-It should be possible to recognize patterns of cones, such as a gate, straight-line, or mandala, and determine from that event is intended.
-Task: unit test each pattern
-### events
-  - spiral
-  - freestyle
-  - slalom: straight-line or course
-  - barrel race
-  - porch mandala
-  - perimeter
-  - slalom around the perimeter
-  - unit test named patterns, ie spiral
-    - run main and sim loop
-    - x leave a trail
-    - save image and compare image to reference
-  - repeat and timing each run
-    - barrel racing: run once and out
-    - freestyle: route, run, repeat, until what
-    - spiral: plot route, same cone again and again
-### legs
-  - line
-  - arc
-### freestyle patterns
-  - spiral
-  - perimeter
-  - spiral in, out, starting at multiple cones or perimeter
-  - figure 8
-  - mandalas
-  - compulsories
-### spiral pattern
-  - only one cone in dead center, run a spiral around it, within the arena boundaries
-  - no route, just forever circle one cone; gate, cone, gate
-  - add reverse
-  - find the centermost cone and spiral around it
-  - how to plot a route?  cannot.  has to be done at execution time
-    - cone center
-    - largest circle within arena given center
-    - smallest radius
-    - largest radius
-    - number of circles
-    - gradually increasing radius
-  - make spiral a leg shape
-    - given: center, start radius, end radius, radial pct increase radius each frame
-      - direction, in or out, cw or ccw
-    - any arc could be treated as a spiral
-      - with additional parameters
-        - number of passes
-        - radial change per frame
-      - set by plotRoute
-      - can a spiral intersect another cone?
-        - the spiral leg could be used like a line, as a route to the next cone
-Place cones per event.
-### refactor ala sk8 sensoryMotorCircuit
-  - split into brain parts
-  - 2 simultaneous tasks
-    - fly the drone
-    - drive the skate
-  - both require navigation and piloting
-  - navigator and pilot
-  - to navigate - plot a route, strategy
-  - to pilot - steer the vehicle along the route, tactics
-  -
-  - 1st time
-    - if spec.live:
-      - use OpenCV to read frame from drone camera
-      - use TensorFlow to do object detection and segmentation of cones and skate
-    - elif spec.sim:
-      - generate arena, cones, skate
-    - use matplotlib to build map and plot route
-  - subsequent times:
-    - orient new map to master map
-  -
-  - while running:
-    - if spec.live:
-      - use OpenCV to read frame from drone camera
-      - use TensorFlow to do object detection and segmentation of cones and skate
-    - elif spec.sim:
-      - plot new position via dead reckoning
-  - huh
-    - set gate = skate starting position
-    - use matplotlib to plan route: calculate heading, bearings, route
-    - use matplotlib to navigate: calculate heading, bearings
-    - use matplotlib to pilot: calculate helm, speed
-    - use matplotlib to draw map
-    - use OpenCV.addWeighted to overlay map on top of camera image
-    - use OpenCV to show the finished photo
-    - use OpenCV.waitKey(0) to allow user override