Embedded Motion Control 2015 Group 3/Experiments: Difference between revisions
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= Experiments = | = Experiments = | ||
This page is part of the [ | This page is part of the [[Embedded_Motion_Control_2015_Group_3|EMC03 CST-wiki]]. | ||
== Experiment 1 == | == Experiment 1 == | ||
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Evaluation: | Evaluation: | ||
* [ | * [[Embedded_Motion_Control_2015_Group_3#Calibration|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. | * Driving through a straight corridor went very well. But we could not succeed the corridor challenge yet. | ||
| Line 43: | Line 43: | ||
Evaluation: | Evaluation: | ||
* Path planning was not very succesfull. | * Path planning was not very succesfull. | ||
* Potential field did very well in corridors (see [ | * Potential field did very well in corridors (see [[Embedded_Motion_Control_2015_Group_3#Videos|video]]). Intersections need some extra attention. | ||
== Experiment 5 == | == Experiment 5 == | ||
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Date: Tuesday June 16 | Date: Tuesday June 16 | ||
Purpose: The last repetition for the A-maze-ing challenge | Purpose: | ||
*The last repetition for the A-maze-ing challenge | |||
Evaluation: Sometimes PICO made strange choices at intersections. Probably, because the localisation was not working well. Therefore, before tomorrow the localisation has to be adjusted. And we will make a back-up plan that is random and uses no localisation at all. | Evaluation: | ||
* Sometimes PICO made strange choices at intersections. Probably, because the localisation was not working well. | |||
* Therefore, before tomorrow the localisation has to be adjusted. And we will make a back-up plan that is random and uses no localisation at all. | |||
Latest revision as of 17:59, 23 June 2015
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:
- Sometimes PICO made strange choices at intersections. Probably, because the localisation was not working well.
- Therefore, before tomorrow the localisation has to be adjusted. And we will make a back-up plan that is random and uses no localisation at all.