It took me 6 months to complete the excellent graduation project of undergraduate course. What have I done?

1 Preface

From last year 12 From the beginning of this month to this year 6 End of the month , I have been dealing with the graduation project for half a year . Fortunately, a good result has been achieved , It's a pity that they can't be recommended as excellent students at school level . This paper records the process of completing the graduation project and the oral defense . Considering the confidentiality of the paper , Hide some technical details , But it doesn't affect understanding .

2 Topic selection

My graduation project topic is 《 Design of Multi Computer Cooperative System in a certain environment 》, Why did you choose this topic ？ I have the following considerations ：

• It can exercise the ability of the whole technology stack
  The system involves the underlying hardware control , It is also the old line of my control department ; Algorithm design , It mainly includes task scheduling and path planning algorithms ; software design , Including visual interface (Web)、 Control server 、 Algorithm engineering, etc . All in all , This is a front and rear end 、 A comprehensive project of software and hardware , since Undergraduate stage can not be done in depth , Then spread it out .
• It involves a lot of general technology
  What is general technology ？ It's those classes that don't usually teach ( Default meeting ), And will definitely use the available technology in the future . For example ,ROS For engaging in robot control 、 Automatic driving is a kind of communication technology . Since I have to meet sooner or later , It's better to study in the time of graduation project .
• Multi machine collaboration is the trend of complex task processing
  With the improvement of intelligent level , More and more complex tasks are expected to be automated , Most of the time , This kind of complex task delivery, the efficiency of multi machine cooperation will be much higher than that of single machine , Therefore, it is necessary to understand and learn multi machine collaboration .
• Other topics are not interesting

Because the impact of the epidemic can not be deployed to the entity , Finally, it is shown in the figure below Gazebo In the environment, the multi machine collaboration is realized , At the end of the article, a moving picture of the demonstration is shown .

3 Technology selection

• Hardware
  What the industry uses more is AGV—— A wheeled robot , So I used the universal wheeled mobile robot in biseri , Establish a kinematic model . The robot contains lidar 、RGB camera 、 Odometer and other sensors , I wrote this part in 《ROS From entry to mastery 》
• Control server
  To better coordinate multiple robots , A master control platform is designed , It is also the back end of the system , Responsible for calling intelligent algorithms 、 Release task package 、 As a relay, it coordinates the data flow between the bottom layer and the front end . This design adopts Flask Do the service side , Managing with blueprints API. Actually, you still have to use it as a server java,flask It looks light
  
• GUI
  use VUE+ElementUI Design front end Web Interface , Because the focus is not on the front , So the simple design of login registration 、 Robot Management 、 Map preview 、 Users manage these basic functions
• plug-in unit
  choice PostgreSQL As a database 、ROS3d.js Realize front-end 3D rendering 、ROS-Bridge As the front end and ROS The communication plug-in of the server
• Algorithm
  Improved the tradition A* Path planning algorithm and increase local cooperation ; Improved the traditional task scheduling algorithm .

4 Research process

Look at the research process from my current perspective ：

1. Consult the literature , Understand the mainstream solutions for a problem in the field
2. Reproduce others' algorithms , The control field mainly uses Matlab
3. Discover the shortcomings of others' algorithms , Improve it , Design your own algorithm ( Even a small improvement )
4. Compare the performance of the algorithm , And conduct multiple tests
5. Confirm that the algorithm design is correct , Engineering , To put it simply, it means to put Matlab The script is converted to C++ Code
6. Integrate multiple engineering codes into several modules
7. Integrate several modules into one system

for instance , I used path planning in my design , The simplest algorithm is A* Algorithm , It is deployed to ROS The top is like the bottom , The purple area is the search space

The improved algorithm is as follows , Simply put, it is the premise that the same optimal path is calculated , The search space of the improved algorithm is much smaller than that of the traditional algorithm A* Algorithm , Improved algorithm efficiency . This improvement is “ Look up + Reappear + contrast ” Result , Probably simulated 5 Two algorithms complement each other .

Mark once , Wait for graduate students to come back and see if this methodology needs to be improved .

5 Graduation defense

With the consent of the instructor and the reviewing teacher , Graduation defense is available . Before replying, face PPT About twenty times , Practice is not just reciting the manuscript , But to see if there is anything in the process of elaboration Bug, I've probably listed 18 A possible question , Although the last one didn't ask , But the process of thinking will improve the effect of defense .

When you really answer , For undergraduate students , As long as the paper is written by yourself 、 The defense teacher and the instructor have no hatred , Generally, I won't embarrass you , All the questions are about the paper itself , It could be a technical problem , It may also be a highly subjective problem , Combined with what I heard , Some of the main issues are listed below , You can collect it if you need it ：

• Why choose this topic ？ / What is the meaning of the topic ？
• Compare your plan with the existing one , What are the advantages ？
• What is the innovation of the paper ？
• What is the most difficult point in the design process ？( We should pay attention to this problem , The teacher will observe your solution process according to your difficulties , Think carefully )
• Why is the algorithm so designed ？
• Principle problem
• Whether the assumptions made are reasonable ？ What are the requirements for practical application ？
• Why not consider xxx Influence ？
• What is your main job ？

Students who have questions about thesis writing can refer to these two articles

• Summary of graduation thesis writing skills , It is clear from the summary to the outlook
• Graduation season is coming , I'm worried about my graduation project ？ Take this knowledge literacy

6 Effect display

Finally, a simple presentation of the results , Welcome colleagues in related fields to exchange ~

Front end display ：

After marking the task point, click to release the task , The task package will be sent to the back end for scheduling , And then distribute it to the bottom robot .

Matlab Simulation ：

Gazebo Simulation ( The motion picture is too big to upload , Put a picture )：

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