Embedded Motion Control 2014 Group 1: Difference between revisions

From Control Systems Technology Group
Jump to navigation Jump to search
Line 68: Line 68:


== Software architecture ==
== 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.
<table border="1" cellpadding="5" cellspacing="0" style="width:50%;border-collapse:collapse;">
<tr><td>Method</td>
<td>Mid-line</td>
<td>Wall-tracking</td>
</tr>
<tr><td>Simplicity</td>
<td>-</td>
<td>+</td>
</tr>
<tr><td>Robustness</td>
<td>+</td>
<td>+</td>
</tr>
<tr><td>Flexibility</td>
<td>+</td>
<td>-</td>
</tr>
<tr><td>CPU time</td>
<td>+</td>
<td>++</td>
</tr>
</table>
Midline strategy: Complicated trajectory planning, but flexible in corner detection.
[[File:Drive_parallel.png|center|thumb|300px]]
<div style="text-align: center;">
''Midline tracking''
</div>
Wall tracking strategy: Basic trajectory planning, only right wall is important.
[[File:setpointgenerator.png|center|thumb|300px|]]
<div style="text-align: center;">
''Right wall tracking''
</div>
''Conclusion: We think Mid-line is the best method bedause the distance between the walls can be variable and you will always be in the center of the corridor.''

Revision as of 14:54, 5 May 2014

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

Retrieved from "https://dsdwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2014_Group_1&oldid=8701"