Mobile Robot Control 2020 Group 2

Group members

Marzhan Baubekova - 1426311

Spyros Chatzizacharias - 1467751

Arjun Menaria - 1419684

Joey Verdonschot - 0893516

Bjorn Walk - 0964797

Bart Wingelaar - 0948655

Design Document

Design document for the escape room challenge can be found here:

File:Mobile Robot Control Design Document Group2.pdf

Hospital Challenge

Pathplanning with 2 heuristics.

For the selection of the algorithm used for pathplanning a table of pros and cons has been formulated, which inlcudes the computer performance index. A* is given an index number of 100. The walls and Dijkstra compute indices are an educated guess. The others are based on the amount of nodes used in a study https://www.researchgate.net/publication/320774676_Path_Planning_Algorithms_A_comparative_study

Algorithm	Compute index
A*	100
Rapidly-exploring random tree	100
Potential field algorithm	40
Dijkstra	100 or higher
Wall following	100000
the one that only spyros had, but i dont remember	?

Path Planning

The algorithm that is chosen for the path planning is an A* algorithm. Before proceeding to algorithm, it is essential to transform map to a binary grid map. This step is done in Matlab and later translated to C++. There are two heuristic functions which are tested, namely diagonal and euclidian.

Logs

Meeting 1

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Date: 28-04-20

Time: 10:00

Platform: MS Teams

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Agenda

• Introduction meeting with the tutor
• Discuss assignments to be completed
• Discuss preliminary design and algorithm

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Meeting notes

• The tutor's role is to guide and answer questions. The tutor is present at the weekly meetings.
• Robot description: the unit of the laserdata distance is [m] and the angle is in radians; the robot is about 40*20cm.
• Gitlab should be used.
• Wiki: At the end of every meeting a clear list has to be made of actions that should be done.
• Important dates and information about the first assignment: The design document should be hanged in on may 4th as PDF and text should not be mentioned on the wiki.
• Design document is the document that describes how the software will look like, which includes requirements, functions, components, specifications and interfaces.
• Requirements: robot's speed constraints and etc.

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Meeting 2

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Date: 01-05-20

Time: 14:00

Platform: MS Teams

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Agenda

• Discuss the progress
• Discuss the design document

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Meeting notes

• "Specifications and Requirments" section of the document design was discussed
• Finite State Machine was reviewed
• Action: meet on Monday (4th of May) to proof-read the report

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Meeting 3

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Date: 05-05-20

Time: 10:00

Platform: MS Teams

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Agenda

• Questions about odometry data
• Question on identifying exit
• Questions on GitHub
• Discuss work to be done

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Meeting notes

• The robot overshoots on rotating to the right. This is much worse than when rotating to the left.
• The tutor is going to look into the simulator since it might be a bug in there. He will let us know as soon as possible.
• Take into account that the exit could be aligned with the sidewall of the room meaning there is only one corner to identify instead of 2.
• Gitlab tutorial is online and should help us figure it out.
• Group members have to use git clone to get the master repository on their pc.
• Slip is not enabled by default. It has to be enabled in the config file when needed in simulation.

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Work division

• Wall following algorithm -> Bjorn and Marzhan
• Wall finding and exit scanning -> Spyros and Arjun
• Wall alignment and exit corridor movement -> Bart and Joey

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Next meeting

• Friday, May 8th, 2 pm group meeting on progress (without tutor).
• Monday, May 11th, 11 am final meeting before escape room challenge (with the tutor).

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Meeting 4

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Date: 11-05-20

Time: 11:00

Platform: MS Teams

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Agenda

• Discuss problems of code.
• Question on exit width.

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Meeting notes

• good progress has been made on the initial scanning
• Joey and Bart had the same section of code.
• The alligning at the exit can be improved

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Work division

• Exit allignment -> Bjorn and Marzhan and Bart
• Wall finding and exit scanning -> Spyros and Arjun and Joey

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Next meeting

• not determined yet.

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Meeting 5

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Date: 18-05-20

Time: 11:00

Platform: MS Teams

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Agenda

• Discuss what went wrong in the Escape room competition.
• Discuss Hospital Chanllenge.

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Meeting notes

• Code is corrected and escape room is succeeded
• Brainstorm on hospital challenge
• Outlining main parts of the hospital challenge

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Work division

• Localization -> Bjorn and Joey and Marzhan
• Path Planning-> Spyros and Arjun and Bart

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Next meeting

• 22-05-20 at 14:00 without tutor

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Meeting 6

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Date: 22-05-20

Time: 14:00

Platform: MS Teams

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Agenda

• Discuss algorithm proposed by each subgroup.
• Discuss possible extention to object detection.

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Meeting notes

• For path planning: A*
• For localization: particle filter
• Structure of the algorithm is constructed: main parts such as localization, path planning and object detection communicate through WorldModel and path planning also sends data to driveControl

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Work division is the same

• Localization -> Bjorn and Joey and Marzhan
• Path Planning-> Spyros and Arjun and Bart

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Next meeting

• 26-05-20 at 11:30 with tutor

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Meeting 7

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Date: 26-05-20

Time: 11:30

Platform: MS Teams

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Agenda

• Discuss progress in path planning and localization.

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Meeting notes

• For path planning, A* algorithm: advantage of diagonal over euclidian heurisic or vice versa.
• For localization: split and merge implementation for features extraction.
• Run localization all the time

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Work division is the same

• Localization -> Bjorn and Joey and Marzhan
• Path Planning-> Spyros and Arjun and Bart

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Next meeting

• 02-06-20 at 11:00 with tutor??