Embedded Motion Control 2015 Group 10

Group Details

S No	Name	Student ID	Email ID
1	Sudarsan Kumar Venkatesan	0925292	s.k.venkatesan@student.tue.nl
2	Manoj Kannan Soundarapandian	0925101	m.k.soundarapandian@student.tue.nl
3	Srinivas Subramanian	0925168	s.subramanian@student.tue.nl
4	Sankar Chandrasekar	0923562	s.chandrasekar@student.tue.nl
5	Vasanth Subramaniam	0927487	v.subramaniam@student.tue.nl
6	Akshay Vaidhiyanathan	0877940	a.vaidhiyanathan@student.tue.nl
7	Avinash Visagan Varadarajan	0925263	a.v.varadarajan@student.tue.nl

Objective

Design and implement a robotic software system for the robots Pico/Taco, such that they are able to solve a maze in shortest time possible.

Requirements

• The robot should exit the maze as quickly as possible.
• The robot should align itself along the path orientation.
• The robot should avoid collision with the walls.
• The robot should be able to detect and differentiate between doors and walls.
• The robot should be able to identify that it has reached the end the maze.

Functions

• Navigation
  • The robot should move along its Y-axis.
  • The robot should stop before taking a turn.
  • The robot should rotate 180o in case of a dead end.
  • The robot should rotate 90o to its left or right when it encounters a corner.

• Sensing
  • The robot should sense doors and walls.
  • The robot should go through in case of door.
  • The robot should sense the difference between a dead end, a corner with a right or left opening.
  • The robot should stop once it exits the maze.

Components

Specifications

• Robot : A-MAZE-ING PICO
• Sensors:
  • Laser sensor
• Actuators:
  • Holonomic base (Omni - wheels)
• Computer:
  • Running Ubuntu 12.04
  • ROS (Robot Operating) - RVIZ
  • Subversion

Interface