Case Western Robotics

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David spent a semester working as part of the Robotics Team at CWRU, writing software for ‘Harlie.’ The Harlie robot is equipped with GPS, LIDAR, cameras, and wheel encoders. It runs NI hardware, thus the main development platform for the robot is Labview. Harlie was entered in an intelligent ground vehicle competition the following summer.

David worked primarily on Harlie’s steering algorithms. His code would process an array of x/y coordinates and translate those to discrete wheel velocities, which would feed a PID control algorithm. He started with a simple design that would steer the robot along straight-line segments. He moved on to advanced planning algorithms as the semester progressed, such as ‘wagon handle’ steering. David incorporated extra logic for handling paths that loop back, are poorly defined, or otherwise fail to meet standard specifications, so that Harlie could make optimal, real-time steering decisions.

Screen Shot 2013-12-17 at 11.53.47 PM
Screen Shot 2013-12-17 at 11.54.01 PM

Take a look at this overview of the Harlie robot for more details.

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