12 Aug 2020 -
During May, I finished what we had started at the hackathon and programmed Camelot to follow AprilTags. I am using the ROS apriltags package which reports back the position of the AprilTag in a coordinate frame relative to the camera. Then I am running two proportional controllers. One to regulate the distance to the tag and another to keep the tag centered in the camera frame. The result is a little jerky since the robot stops immediately if it doesn’t see the tag in the camera which happens from time to time. Overall, it is a good first step and I plan to come back to this project after I add some more sensors.