Embedded Motion Control 2012 Group 1

Group Members

Name:	Student id:	Email:
Rein Appeldoorn	0657407	r.p.w.appeldoorn@student.tue.nl
Jeroen Graafmans	0657171	j.a.j.graafmans@student.tue.nl
Bart Peeters	0748906	b.p.j.j.peeters@student.tue.nl
Ton Peters	0662103	t.m.c.peters@student.tue.nl
Scott van Venrooij	0658912	s.j.p.v.venrooij@student.tue.nl

Tutor: Jos Elfring

Week 1

• Installed all required software on our computers :)
• Everybody gained some knowledge about Unix, ROS and C++.

Week 2

• Everybody gained more knowledge about Unix, ROS and C++.
• Looked at Gazebo, Rviz, Turtlebot_simulator, PR2_simulator, Jazz_robot_simulator
• Managed to create 2D map with Jazz Robot Simulator: http://www.youtube.com/watch?v=Cmh8dMrmgN0
• Made presentation of Chapter 1: Introduction, Link to the presentation: http://cstwiki.wtb.tue.nl/images/Powerpoint_Chapter_1.pdf

Week 3

Optimized map

• Thought about an efficient algorithm to solve the 'maze'-problem. Depth-First-Search is proposed as a candidate algorithm.
• Started with arrow recognition using the OpenCV package.
• Started with map-processing to build up a tree of the maze which can be used by the decision algorithm.
• Optimized mapping algorithm and did some processing on the map. See Figure "Optimized map"
• tarted with navigation node for autonomous navigation of the jazz

Tasks for Week 4:

• Process map
• Add markers at crossings
• Define paths between these markers for navigation

Week 4

Corner detection

• Arrows can be detected by camera with use of the OpenCV package.
• Robot can detect its position in a corridor with use of its laser data and can drive autonomous.
• Corner detection; extracted out of the occupancy-grid. See Figure "Corner detection".

Week 5

• Map-processing is cancelled, since the used package (hector_mapping) creates incorrect maps.
• Now working on processing the laserdata to let the Jazz drive "autonomously"
• Writing an algorithm by using depth-first-search, this algorithm obtains the kind of crossing, the position of the Robot and the angle of the Robot and sends the new direction to the Robot

Week 6

• Did tests with the real Jazz Robot; some issues were find concerning the update-rate; perhaps a new navigation strategy is needed. http://youtu.be/_g9S24xXes4
• New navigation strategy implemented. Still a couple of bugs that have to be fixed; this is for next week.
• Created a visualization-class to visualize the node-structure for better perception of the algorithm.
• Finished DFS algorithm; algorithm works now if there are no loops. http://www.youtube.com/watch?v=KSjsA6BR-Bs&feature=channel&list=UL

Tasks for Week 7: - Debug navigation node; fix issue with no 'corridor' between 'corners'. - Debug algorithm; try to find some errors. - Corridor competition - Test on real robot

Week 7

Original maze solved

"Big maze solved

• Navigation node debugged, fixed issue with no corridor between corners.

Original maze without loops solved: http://www.youtube.com/watch?v=eQblXU57aeU&feature=youtu.be Figure "Original map solved" also shows the how the original given maze looks in Rviz when it is solved the robot.












Big maze solving also possible: http://www.youtube.com/watch?v=HEO7ETBTaDs&feature=youtu.be' The big maze solved can also be seen in Figure "Big maze solved".

Week 8

• Some adaptions on code with new simulator; result: http://www.youtube.com/watch?v=tgHOjsxDUjk&feature=plcp