Embedded Motion Control 2012 Group 3

Contact Info

Name	Number	E-mail address
X. Luo (Royce)	0787321	x.luo@student.tue.nl
A.I. Pustianu (Alexandru)	0788040	a.i,pustianu@student.tue.nl
T.L. Balyovski (Tsvetan)	0785780	t.balyovski@student.tue.nl
R.V Bobiti (Ruxandra)	0785835	r.v.bobiti@student.tue.nl
G.C Rascanu (George)	0788035	g.c.rascanu@student.tue.nl

GOAL

Win the competition!

HOW ?

Good planning and team work

Week 1 + Week 2

1. Installing and testing software tools

• Linux Ubuntu
• ROS
• Eclipse
• Jazz simulator

Remark:

Due to incompatibilities with Lenovo W520 (wireless doesn’t work), Ubuntu (10.04) did not work and other versions were tried and tested to work properly. All the software was installed for all members of the group.

2. Discussion about the robot operation

Targeting units:

1. Maze mapping
2. Moving Forward
3. Steering
4. Decision making

Moving forward and steering

• Make choice between what sensors for straight line and what sensors for turning left/right.

Figure 1

Case 1 – Safer, but slower

Case 2- Faster, but more challenging

Time difference between these 2 cases is small or not? According to the simulations we will decide between Case 1 and Case 2.

Backward movement!

Because one of the requirements is to get out of the maze as fast as possible this kind of movement will be considered as a safety precaution at the end of the project whether is time or not.

Speed

As mentioned earlier the main requirement is as fast possible, hence take the maximum speed (~ 1 m/s).

Sensors

Web cam -> Identify arrows on the walls by color and shape.

Laser -> Map of the world (range ~< 6 m).

Encoders -> Mounted on each wheel -> used for odometry (estimates change in position over time). How many pulses per revolution?

3. Making planning of the work process

Figure 2

All the team members start reading C++ and ROS tutorials given on the wiki page of the course.

4. Had the first meeting with the tutor.