Alice: Vehicle Control: Difference between revisions
No edit summary |
|||
| (One intermediate revision by the same user not shown) | |||
| Line 1: | Line 1: | ||
{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page --> | {{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page --> | ||
This lecture provides a detailed description of the vehicle control system for Alice, emphasizing the messaging interfaces and multi-threaded control architecture. We describe in detail the code for [ | This lecture provides a detailed description of the vehicle control system for Alice, emphasizing the messaging interfaces and multi-threaded control architecture. We describe in detail the code for [[GC:Follow|Follow]], a simple control system used in [[CDS 110b]]. Key aspects of follow include the user interface (implemented with [[GC:Sparrow|Sparrow]]), the interfaces to the state estimator, path planner and actuation subsystem (implemented with [[GC:Skynet|Skynet]] and [[GC:DGCutils|DGCutils]]) and the trajectory tracking control itself (implemented with [[GC:Falcon|Falcon]]). | ||
== Lecture Materials == | == Lecture Materials == | ||
| Line 12: | Line 12: | ||
== Additional Resources == | == Additional Resources == | ||
* <p>Alice source code: [http://gc.caltech.edu/viewcvs/trunk/projects/cds110b/ follow], [http://gc.caltech.edu/viewcvs/trunk/util/moduleHelpers moduleHelpers] (DGCutil, StateClient, trajTalker)</p> | |||
Latest revision as of 17:54, 15 April 2006
| Prev: Pthreads | Course Home | Next: NTG |
This lecture provides a detailed description of the vehicle control system for Alice, emphasizing the messaging interfaces and multi-threaded control architecture. We describe in detail the code for Follow, a simple control system used in CDS 110b. Key aspects of follow include the user interface (implemented with Sparrow), the interfaces to the state estimator, path planner and actuation subsystem (implemented with Skynet and DGCutils) and the trajectory tracking control itself (implemented with Falcon).
Lecture Materials
Reading
Asynchronous Network Control of Multiple Low Bandwidth Devices using Linux, T. Foote. E11 paper, 2006. This paper, by Team Caltech member Tully Foote, describes how adrive works in a fair bit of detail, including the multi-threaded nature of its design, and gives some performance measures.
Follow Documentation, Jeremy Gillula. 2006. This page describes the interface to the Follow program.
Additional Resources
Alice source code: follow, moduleHelpers (DGCutil, StateClient, trajTalker)
