Embedded Motion Control 2018 Group 5

Group information

Name	Student number	E-mail
M.J.W. Verhagen	0810317	m.j.w.verhagen@student.tue.nl
L.W. Feenstra	0847751	l.w.feenstra@student.tue.nl
A.J.J. Steinbusch	...	a.j.j.steinbusch@student.tue.nl
J.T. Galen	...	j.t.v.galen@student.tue.nl

The Robot: PICO

The robot that will be used for this project is PICO which is a telepresence robot from Aldebaran from the type Jazz.

• Sensors:
  • Laser Range Finder (LRF)
  • Wheel encoders (odometry)
  • 170 degrees wide-angle camera (cannot be used during the project)

• Actuators:
  • Holonomic base (omni-wheels)
  • Pan-tilt unit for head
  • Maximum speed is 0.5 m/s translational and 1.2 rad/s rotational

• Computer:
  • Intel I7
  • Running Ubuntu 16.04

Escape Room challenge

The goal of this challenge is to let PICO escape a room through a corridor as fast as possible. The challenge is succeeded when PICO has steered itself autonomously with its entire rear wheel over the finish line at the end of the corridor without hitting any walls. PICO will be placed at a random location in the room. To detect the walls the Laser Range Finder can be used. An example of a possible escape room is given below. The escape room of the challenge does not have to be identical to the one below.

The shape of the room will be rectangular, but the length and width of the room will not be known beforehand. It must be taken into account that the walls might not be perfectly straight, nor perfectly perpendicular and parallel to other walls. The width of the corridor will be in between 0.5 and 1.5 meters and the finish line will be more than 3 meters into the corridor to give PICO so more time to align with the walls of the corridor.

Hospital challenge

The goal of this challenge is to let PICO find an object in one of the rooms of the hospital as fast as possible. Beforehand, PICO will map the hospital.