Hologlyph-Bots

This repository contains the source code and resources developed by Team eyrc_hb_1523 for the E-Yantra 2023-2024 Hologlyph Bots competition. This theme focuses on designing robots capable of creating artistic patterns or glyphs using holonomic drive systems. Holonomic drive robots offer superior control over movement, enabling translation along both x and y axes and rotation along the z-axis, a feature ideal for precision tasks in a confined arena.

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Overview

Key Features

• Implements precise control algorithms for holonomic drive robots.
• Implemented Swarm Algorithms to accomplish collaborative tasks.
• Completes various tasks in a simulated arena and with physical hardware, demonstrating advanced robotics capabilities.
• Leverages robotic motion control to draw complex shapes like triangles, rectangles, and intricate mathematical functions.

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Repository Structure

Hologlyph-Bots/
├── Arduino Code
├── Arena photos
├── Aruco_Markers
├── cam_calibration_640x480
├── hb_task1a_ws
├── hb_task1b_ws
├── hb_task_2_ws
├── hb_task_4_ws
├── hb_task_5_ws
├── hb_task_6_ws
├── PCB and Circuit
├── STL files
└── README.md

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Getting Started

Prerequisites

• Python 3.8+
• Ubuntu 22.04 LTS
• ROS-HUMBLE (Robot Operating System)
• Gazebo-Classic Simulator
• Required libraries: numpy, matplotlib, scipy, opencv-python

Installation

1. Clone the repository:

   cd 
   git clone https://github.com/Loki-Silvres/Hologlyph-Bots.git
   cd ~/Hologlyph-Bots/

2. Install requirements:

   pip install -r requirements.txt

3. Running Simulations:

• Run specific simulation tasks with the help of their corresponding documentations:

  • Task1A
  • Task1B
  • Task2

4. Hardware Implementation:

• STL files for 3D printing
• PCB and Circuit Design
• Arena flex-printing
• Overhead Camera Calibration
• ESP32-code
• Aruco-Markers

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Results

Submission Playlist

• Click here to view our Submission Playlist

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Task Demonstrations

Task 5: Final Arena with Bots

• Arena Layout
  

• Task Result
  

Task 4: Shape Drawings

• Triangle Drawing
  

• Rectangle Drawing
  

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Acknowledgments

• E-Yantra: For organizing this inspiring robotics competition.
• Team Members: EYRC_HB_1523:
  • Alok Raj