Embedded Motion Control 2017 Group 6

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Group members

Student	ID number
Ties Hoenselaar	0857112
Hasan Ilisu	0852221
Laura de Jong	0743679
Lars Moormann	0861223
Bas Straatman	0777325
Jeroen van der Velden	0-----

Tutor: Wouter Houtman

Initial Design

Requirements

In order to achieve the goal, the following requirements have to be met:

• The robot has to drive through any maze complying with specifications
• It has to escape the maze within the time limit
• Collisions with the walls must be avoided
• Doors must be opened
• Doors must be recognized in order to achieve the previous requirement
• The software has to be robust for imperfections in the measurement data and disturbances
• The robot must not be idle for a long period of time
• The robot must not ring the bell too often
• The robot must autonomously solve and navigate through the maze
• The Software must be started with only one executable

Components

The following components will be used to reach the goal:

Sensors

• Laser range finder which uses a laser beam to determine the distance to an object
• Wheel encoders (odometry) to estimate the position of the robot relative to a starting location

Actuators

• Holonomic base with omni-wheels
• Bell to open the door
• Pan-tilt unit for head (which will not be used)

Computer

• Intel I7
• Ubuntu 14.04

Specifications

The goal and the requirements will be achieved with the following specifications:

Robot

• The maximum transnational speed of the robot is 0.5 m/s
• The maximum rotational speed equals 1.2 rad/s
• The corridor challenge has to be solved in 5 minutes
• The maze challenge has to be solved in 7 minutes
• Both challenges have a maximum of two trials
• The laser range finder (LRF) has a range of 270 degrees
• The wheel encoders have a accuracy of ...
• The robot must not be idle for more than 30 seconds

Maze

• The corners will be approximately 90 degrees
• The wall distance is 0.5-1.5 meter
• There is only 1 door in the maze
• The door starts opening in 2 seconds
• The door opens if the robot is within 1.3 meter of the door
• The door is open in 5 seconds
• The number of rings must not be larger than the number of potential doors
• The maze may contain loops
• The maze can contain dead ends

Interfaces

The main relations between the interfaces are colored red and can be described as follows: World model -> Task: World model -> Skill: World model -> Motion: World model -> User interface: The user interface needs the data from the world model to visualize Task -> World model: Skill -> World model : Motion -> World model :

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