Welcome to the repository for the Delivery Bike Bot project by Spider R&D Club at the National Institute of Technology, Tiruchirappalli. This repository contains the source code, documentation, and design files related to the project. The project involves the design and simulation of a delivery bike for autonomous path following and traversal over various terrains. The objective is to achieve stable and efficient movement using control theory and sensor integration.
- Description: The Delivery Bike Bot project aims to design and simulate an autonomous delivery bike capable of following paths and crossing different terrains.
- Duration: August 2022 to May 2023
The project is organized into several tasks, each contributing to the overall goal of creating a functional delivery bike. Here is a brief overview of the major tasks:
- Modeling of a Non-Linear System - Simple Pendulum (Task 1A and Task 1B): Initial modeling and analysis of a simple pendulum system, which serves as a basis for understanding and developing the main bike control logic.
- Delivery Bike Design for CoppeliaSim Simulation (Task 1C): Design and simulation of the delivery bike in CoppeliaSim, focusing on weight distribution, stability, and cargo storage.
- Balancing and Control (Task 2A): Implementation of control logic similar to an LQR controller for balancing the delivery bike and its movement.
- Path Following (Task 2B): Development of path-following algorithms using sensor data to ensure the bike accurately follows a specified path.
- Bridge Crossing (Task 2C): Adjusting control parameters and gain matrices to enable the bike to safely cross bridges and other challenging terrains.
- Terrain Traversal (Task 3): Fine-tuning control parameters for traversing various terrains, including speed bumps and bridges.
- 3D Printing and Physical Model (Task 4): Creation of a physical model of the bike through 3D printing and implementation of the reaction wheel for balancing.
Throughout the project, the team has achieved the following outcomes:
- Developed a mathematical model of a simple pendulum as a basis for system understanding.
- Designed a delivery bike in CoppeliaSim with considerations for stability, weight distribution, and cargo storage.
- Implemented control logic for balancing and movement, drawing inspiration from LQR controllers.
- Created algorithms for path following, enabling the bike to accurately track specified paths.
- Improved bridge-crossing capabilities through parameter adjustments and refined sensor responses.
- Optimized control parameters for traversing various terrains, enhancing stability and performance.
- Successfully 3D printed and implemented a physical bike model with a functional reaction wheel for balancing.
For detailed project documentation, implementation, and outcomes, please refer to the relevant sections and files within this repository.