Embedded Motion Control 2017 Group 9

Group Members

Name:	Student id:
Mian Wei	X
Zhihao Wu	X
Petrus Teguh Handoko	X
Bo Deng	X
Bo Cong	X
Jian Wen Kok	X
Nico Huebel	Tutor

Initial Design

The initial design for the maze challenge is elaborated below. It includes the requirements, functions, components, schematic of program structure, specifications and interfaces to define the working of PICO. The file for the initial design is included here: File:Assignment-for-week1.pdf

Requirements

➢ PICO drives autonomously through maze
➢ Being able to take a turn without touching a wall
➢ Being able to detect a turn or branching corridors
➢ Avoiding collisions with obstacles (including the walls)
➢ Driving straight and rotating smoothly
➢ PICO should not stand still for 30 seconds
➢ Avoid getting trapped in a loop of the maze
➢ Being able to recognize the door

Functions

Components

drive control
‐Holonomic base (omni‐wheels)
‐Pan‐tilt unit for head

detection ‐170◦ wide‐angle camer
‐Laser Range Finder (LRF)
‐Wheel encoders (odometry)
‐Asus Xtion Depth sensor

world model
computer
‐Intel I7
‐Ubuntu 14.04

Specifications

- maximum translational speed of 0.5 m/s
‐ maximum rotational speed of 1.2 rad/s
‐ Door template: length of 0.5 ‐ 1.5m and with side walls of approximately 30cm, see figure below
‐ LRF accuracy and range unknown
‐ odometer accuracy unknown

Interfaces

The odometer and LRF generates data for mapping the environment.

The algorithm sets nodes on the junction as a setpoint for navigation, plans the route and put the actuators to work accordingly.

The odometer and LRF keeps on keeping track of the environment and the software recognizes obstructions, dead ends that might be doors and junction.