Difference between revisions of "Alice: Vehicle Control"

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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 [http://gc.caltech.edu/wiki/index.php/Follow Follow], a simple control system used in [[CDS 110b]].  Key aspects of follow include the user interface (implemented with [http://gc.caltech.edu/wiki/index.php/Sparrow Sparrow]), the interfaces to the state estimator, path planner and actuation subsystem (implemented with [http://gc.caltech.edu/wiki/index.php/Skynet Skynet] and [http://gc.caltech.edu/wiki/index.php/DGCutils DGCutils]) and the trajectory tracking control itself (implemented with [http://gc.caltech.edu/wiki/index.php/Falcon Falcon]).
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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 ==
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== Additional Resources ==
 
== Additional Resources ==
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* <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

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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

  • Follow Documentation, Jeremy Gillula. 2006. This page describes the interface to the Follow program.

Additional Resources