In this theme, the team will develop a Self-Balancing Bike, which will deliver various items throughout the cityscape. The delivery order will be decided by the priority of the package, thus posing a challenge in path planning. While development, you will learn the basics of the Control System and LQR controller design. The main challenges faced in this theme will be:
- Balancing of 2-wheeled Delivery Bike.
- Autonomous Navigation of Delivery Bike.
- Pickup and delivery in the arena.
Concepts used: Self-Balancing Robot, State-Space Modelling, Euler-Lagrange Mechanics, Linear Quadratic Regulator, Lua Language, Octave Programming, Coppelia Sim, Fusion 360.
For sharing resources of the Dairy Bike project in eYRC 2021.
Our Final Demo Video: Final Video
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The official documentation for GNU Octave 5.2.0 is here.
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For task 1.1: The syntax for solve, jacobian, subs and eig functions were taken from octave.sourceforge.io website.
Note: This repo was made public after the competition ended and final scripts were uploaded for future reference purposes.