16th Annual Intelligent Ground Vehicle Competition
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s multi-threaded processing, exact system signal control, and Ethernet transfer between computers. The Player server offers a powerful, easy, and innovative approach to systems integration. On each computer with an operating system, Player runs as a server providing device interfaces. Device interfaces are implemented as plugins to the Player server. For example, on the EDA Player runs a driver for the Hokuyo URG LIDAR. Processes running on any of Candii's computers may address the LIDAR and draw data from it as if the LIDAR were running on their respective systems. With a built-in queue implemented on each server, Player can handle traffic from a large number of processes trying to communicate with devices to which they have subscribed. To simplify communication between computers and to allow device drivers for Candii's different hardware components to be developed separately, the electrical/programming team decided to write much of the code as plugins for the Player robot server. In addition, the Player distribution already had a standard driver written for selected LIDAR, so time saved in writing that device driver. However, Player only had a standard camera driver for cameras that are compatible with the raw1394 library. Unfortunately, the camera did not work with the raw1394 library, although it was compatible with the dv1394 library. Thus, a custom dv1394-based camera driver was written in order to talk to the camera using the IEC 61883-2 DV (Digital Video) protocol. On the embedded board Player server, the ability to communicate with the GPS, compass, accelerometer, and gyro is abstracted as a device driver plugin. Other systems may query the device plugin “IMU” for the following information: global position in latitude and longitude coordinates cardinal direction in degrees, and current position relative to a starting point. By the time of the competition, some of this data will likely have changed due to removed or added features. 3.5. Environmental Data Processing Data on white lines and orange barrels (for a sanity check with the LIDAR barrel data) is provided by a powerful implementation of the perspective transform followed by white blob and barrel identification and the Hokuyo URG LIDAR by the Environmental Data Processing team. The goal of the perspective transform is to reverse all of the changes that occurred to an image
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تاریخ انتشار 2008