Embedded Motion Control 2014 Group 1

Group Info

Name:	Student id:	Email:
Groupmembers (email all)
Sander Hoen	0609581	s.j.l.hoen@student.tue.nl
Marc Meijs	0761519	m.j.meijs@student.tue.nl
Wouter van Buul	0675642	w.b.v.buul@student.tue.nl
Richard Treuren	0714998	h.a.treuren@student.tue.nl
Joep van Putten	0588616	b.j.c.v.putten@student.tue.nl
Tutor
Sjoerd van den Dries	n/a	s.v.d.dries@tue.nl

Meetings

1. Meeting - 2014-05-02

Planning

Week 1 (2014-04-25 - 2014-05-02)

• Installing Ubuntu 12.04
• Installing ROS
• Following tutorials on C++ and ROS.
• Setup SVN
• Plan a strategy for the corridor challenge

Week 2 (2014-05-03 - 2014-05-09)

• Finishing tutorials
• Interpret laser sensor
• Positioning of PICO

Software architecture

We have chosen to divide the main structure into conditions and states which means the following:

condition = What pico observes.

state = What pico does as a result of a certain condition.

This chosen so that different modules can be developed, tuned and tested seperately.

Driving strategy: Two different driving strategies are examined:

Mid-line: By use of a hough-transform is a visualisation made of the surroundings of pico. By use of this visualisation a centerline trajectory can be determined and used as setpoint trajectory for pico.

Wall-tracking: Not the centerline is chosen as the to be controlled setpoint trajectory but the distance to the right wall is chosen as input. Remark: Usefull for the 'always-right'-strategy.

Method	Mid-line	Wall-tracking
Simplicity	-	+
Robustness	+	+
Flexibility	+	-
CPU time	+	++

Midline strategy: Complicated trajectory planning, but flexible in corner detection.

Midline tracking

Wall tracking strategy: Basic trajectory planning, only right wall is important.

Right wall tracking