Embedded Motion Control 2015 Group 3/Archive: Difference between revisions

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= Archive =
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This page is part of the [http://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2015_Group_3 EMC03 CST-wiki].
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If no exit is found under the assumption that there are no doors, the robot starts checking for doors. See Figure 1 for different possible situations of where the doors are located. At first it assumes that there can only be doors at dead ends (1). If still no solution is found the robot also checks for doors at corners (2), followed by intersections (3) and finally on every outside wall of the currently mapped maze. In order to detect these doors the robot stands in front of the potential door for a certain time and checks with its sensors whether the distance to the nearest wall changes.
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[[File:Corridorlayout.png|400px|thumb|center]]
{|style="margin: 0 auto;"|right|thumb
 
| [[File:Originaldata.png|250px|thumb|right|Calibration: Difference between odometry and LRF data]]
== Uncertainties ==
| [[File:StaticLRF.png|250px|thumb|right|alt=Static LRF|Calibration: Static LRF]]
 
|}
Certain aspects of the design are not yet clear due to uncertainties in the specifications of the robot and/ or the maze challenge.
Depending on the difference between the end of the maze and the inside of the maze, the robot may be enabled to detect it has completed the challenge. If however the outside of the maze is simply an open space similar to a place inside the maze, the robot might not be able to distinguish the difference. In this case the robot would have to be stopped manually.
 
The exact specifications of the robot are still unknown and without testing the precise accuracy and range of the sensors, the resolution of the map and the safe wall distance are unknown.
 
In order to make the robot complete the challenge faster control over the speed of the robot could be used. This way it could move faster in area’s it has already mapped. This is only possible if the robot has the capability of moving at different speeds.

Latest revision as of 12:12, 26 June 2015

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Calibration: Difference between odometry and LRF data
Static LRF
Calibration: Static LRF
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