Embedded Motion Control 2013 Group 8

Group members

Name:	Student id:	Email:
Robert Berkvens	s106255	r.j.m.berkvens@student.tue.nl
Jorie Teunissen	s102861	j.a.m.teunissen@student.tue.nl
Martin Tetteroo	s081356	m.tetteroo@student.tue.nl
Rob Verhaart	s080654	r.a.verhaart@student.tue.nl

Tutor

Name:	Email:
Rob Janssen	r.j.m.janssen@.tue.nl

Minutes

• Meeting 1 - 06-09-2013
• Meeting 2 - 13-09-2013

Planning

Week 1 (02-09-2013 - 08-09-2013)

• Installing software
• Following tutorials
• Setup SVN

Week 2 (09-09-2013 - 15-09-2013)

• Installing Jazz simulator
• Brainstorm on functions
• Setting up plan of approach

Martin: Measure middle road driving

Week 4 (23-09-2013 - 27-09-2013)

• September 25th Corridor Challenge

Week 8 (21-10-2013 - 25-10-2013)

• October 23th Final Challenge

Strategy

Modules:

• Corridor detection
• Relative location in corridor
• map
• route calculation
• Speed/angle regulator
• safety node
• arrow node

Corridor detection

This function detects all the walls. The walls are outputted as line segments in x,y coordinates.

Input: Laser_vector[1081] output: Vector[Lines], with lines[float x_begin; float y_begin; float x_end; float y_end]

Relative location

This function calculates the distance from the wall on the left and on the right and the angle of the robot towards these walls.

Input: Laser_vector[1081], Vector[Lines] Output: Location_rel[ float Dist_left; float dist_right, int Theta]

Map

Using the results of the previous modules this module will update the current map. The location of the robot and the walls/corners/deadends will be drawn in the map. The starting point of the map (0,0) is the start point of the robot. So every time the map from this point will be calculated. As an improvement a particle filter might be needed to draw a better map.