Retake Embedded Motion Control 2018: Difference between revisions
No edit summary |
|||
| Line 11: | Line 11: | ||
= Task description = | = Task description = | ||
</div> | </div> | ||
The <span style="color:#ff0000"> '''main objective''' </span> of this assignment is to follow a person in a cluttered environment - more detailed further below - for a time span of 2 minutes. The Person Of Interest (POI) will walk a pre-defined route, and on important points we will put down so-called 'target strips' which the POI will cross. To test whether PICO is indeed able to follow the POI correctly, PICO should also cross these target strips. | The <span style="color:#ff0000"> '''main objective''' </span> of this assignment is to follow a person in a cluttered environment - more detailed further below - for a time span of 2 minutes. The Person Of Interest (POI) will walk a pre-defined route, and on important points we will put down so-called 'target strips' which the POI will cross. To test whether PICO is indeed able to follow the POI correctly, PICO should also cross these target strips. A brief overview of the setup is shown on Figure 1. | ||
Some specifications of interest: | Some specifications of interest: | ||
| Line 18: | Line 18: | ||
* We recommend that PICO follows the POI with a distance of approximately 0.5 meter; this will guarantee that PICO crosses the target strips. | * We recommend that PICO follows the POI with a distance of approximately 0.5 meter; this will guarantee that PICO crosses the target strips. | ||
* A failure is stated when the following observations are made: 1. PICO is unable to cross 80% of the target strips 2. PICO bumps into the POI. If a failure is determined, than the person can retry once (thus a total of 2 takes). | * A failure is stated when the following observations are made: 1. PICO is unable to cross 80% of the target strips 2. PICO bumps into the POI. If a failure is determined, than the person can retry once (thus a total of 2 takes). | ||
[[File:Path.png|center|thumb|400px|Figure 1: A graphical representation of the setup of the assignment. The pre-defined path is indicated by the dashed lines, the target strips by the black lines perpendicular to the pre-defined path, the POI in blue, and the human following PICO in red.]] | |||
This assignment is split up into three levels ranging from easiest to hardest. To pass this course, we ask you to at least clear level 1, i.e., the easiest task. Clearing any subsequent levels will naturally allow you to pass this course with a better grade. | This assignment is split up into three levels ranging from easiest to hardest. To pass this course, we ask you to at least clear level 1, i.e., the easiest task. Clearing any subsequent levels will naturally allow you to pass this course with a better grade. | ||
Revision as of 15:14, 12 July 2018
Follow Me!
Context
An increase of robotic deployment is nowadays observed; one could think about care robots for elderly care, AGV's for industrial application, or even a simple vacuum robot in a typical household. Repositioning these robots often occurs manually as, e.g., one picks them up or controls them (via a joystick) to a given position. This, however, may not always be desired as you may for example want the robot to carry something with you (maybe a table). We thus ask you guys to design a person following algorithm to solve this problem.
Task description
The main objective of this assignment is to follow a person in a cluttered environment - more detailed further below - for a time span of 2 minutes. The Person Of Interest (POI) will walk a pre-defined route, and on important points we will put down so-called 'target strips' which the POI will cross. To test whether PICO is indeed able to follow the POI correctly, PICO should also cross these target strips. A brief overview of the setup is shown on Figure 1.
Some specifications of interest:
- The POI will start initially close to the robot at standstill. After PICO starts following him, the POI will move with a velocity greater than 0 meter per second, but no more than 0.5 meter per second.
- The target strips can be regarded as markers on the floor which PICO should not be able to recognize. These target strips have a width of 1 meter, and the POI will pass through the middle of these target strips. The number of target strips should be around 5.
- We recommend that PICO follows the POI with a distance of approximately 0.5 meter; this will guarantee that PICO crosses the target strips.
- A failure is stated when the following observations are made: 1. PICO is unable to cross 80% of the target strips 2. PICO bumps into the POI. If a failure is determined, than the person can retry once (thus a total of 2 takes).
This assignment is split up into three levels ranging from easiest to hardest. To pass this course, we ask you to at least clear level 1, i.e., the easiest task. Clearing any subsequent levels will naturally allow you to pass this course with a better grade.