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projects:ideas:mobotware [2012/07/05 15:53] claes created |
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====== MobotWare Project Ideas ====== | ====== MobotWare Project Ideas ====== | ||
+ | ===== In row navigation with laserscanner and Kinect ===== | ||
+ | http:// | ||
+ | ==== Short Description ==== | ||
+ | Create a plugin for MobotWare in AuRobotServers that enables a robot to follow rows of crop plants in fields using a LIDAR and/or Kinect | ||
+ | ==== Assigments ==== | ||
+ | In agriculture the robots can not just follw the shortest route to a waypoint. They have to follow the rows of crop in the field so they do not damage the crop and thereby reduce the yield. | ||
+ | |||
+ | The robot should be able to navigate in the field during differet growth stages of the crop. | ||
+ | |||
+ | This can be solved with a real-time feedback control, which can correct the position of the robot when it is navigating in the field. | ||
+ | |||
+ | At the moment there are two possible solution, 1) using a kinect, 2) using a LiDAR. | ||
+ | |||
+ | There are advanteges and disadvanteges with both sensor, therefor a solution for each sensor, or a combination is preferred. When the plants are very small it is very difficult to detect them with a LiDAR. When operation outdoors the Kinect may not be stable. | ||
+ | |||
===== MobotWare User Interface ===== | ===== MobotWare User Interface ===== | ||
==== Continue the work started by Thomas Parkhøi ==== | ==== Continue the work started by Thomas Parkhøi ==== | ||
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Include default configs for simulating with MobotWare | Include default configs for simulating with MobotWare | ||
+ | ===== SMR-CL interpreter for ROS ===== | ||
+ | Make it possible to control all Frobomind robots with SMR-CL. | ||
+ | |||
+ | ===== Manual For MobotWare ===== | ||
+ | Create a manual so alot of people can use MobotWare, and also create plugins for it. | ||
+ | |||
+ | Keep the sourcecode closed but open the API for plugins. | ||
+ | |||
+ | ===== Implement software development tools For MobotWare ===== | ||
+ | * XDDP | ||
+ | * Spec | ||
+ | * feature matrix | ||
+ | * XDDP4SPL | ||
+ | * SPL | ||
+ | * Ticket/ | ||
+ | * Traq | ||
+ | * Trac | ||
+ | * SVN | ||
+ | * doxygen | ||
+ | * dokuwiki/ | ||
+ | |||
+ | website the can integrate the spec that tsuneo is talking about, along with doxygen, wiki and management like git or Trac | ||
+ | |||
+ | Tsuneo is also working on a tool. | ||
+ | ===== Implement MobotWare on Hortibot, | ||
+ | and maybe other robots at SDU |