Embedded Motion Control 2015 Group 3/Experiments

Experiments

This page is part of the EMC03 CST-wiki.

Experiment 1

Date: Friday May 8

Purpose:

• Working with PICO
• Some calibration to check odometry and LRF data

Evaluation:

• There were problems between the laptop we used and PICO.

Experiment 2

Date: Tuesday May 12

Purpose:

• Calibration
• Do corridor challenge

Evaluation:

• Here the results of the calibration can be found.
• Driving through a straight corridor went very well. But we could not succeed the corridor challenge yet.

Experiment 3

Date: Tuesday May 22

Purpose:

• Calibration
• Do corridor challenge

Evaluation:

• Combining the Scan and Drive for path planning was not succesfull.
• Potential field script was not ready yet.

Experiment 4

Date: Tuesday May 29

Purpose:

• Test potential field
• Test path planning

Evaluation:

• Path planning was not very succesfull.
• Potential field did very well in corridors (see video). Intersections need some extra attention.

Experiment 5

Date: Friday June 05

Purpose:

• Test potential field & decision intergration

Evaluation:

• Integration is almost done. Still has some problems with crossing intersection and taking corners into (short) dead ends like doors.
• The collision detection behaves somewhat unexpected some times.

Experiment 6

Date: Friday June 12

Purpose: Test everything combined. Especially, some difficult situation with doors, open spaces, dead ends and loops.

Evaluation:

• Localisation was not finished yet.
• There were some problems with the angular corrections. Therefore, PICO sometimes drove sideways through the corridor.
• We have make adjustments before next experiment on Tuesday June 16.

Experiment 7

Date: Tuesday June 16

Purpose: The last repetition for the A-maze-ing challenge

Evaluation: ..