Embedded Motion Control 2017 Group 2

Welcome on the group 2 page.

Weekly meetings are on Friday morning.

Group Members

Name:	Report name:	Student id:
Matthijs van der Burgh	M.F.B. van der Burgh	0771381
Joep Linssen	J.M.H.G.H. Linssen	0815502
Daniël Pijnenborg	D.H.G. Pijnenborg	0821583
Joeri Roelofs	J. Roelofs	1029491
Sil Schouten	S. Schouten	0821521
Rens Slenders	R. Slenders	1028611
Yanick Douven	Y.G.M. Douven	Tutor

Minutes

Minutes of team meetings are available here: [1]

Initial design

Introduction

The goal of this project is to autonomously solve a maze with a robot (PICO) as fast as possible. The robot has sensors, actuators and a computer on board to navigate through the maze. The computer runs on Linux 14.04 and the program language used for the software is C++. In this section the initial design is discussed, which consist of the requirements, functions, components, specifications and interfaces. This design will be used to build structured software and define required interfaces.

Requirements To solve the maze problem the following are required

• Finding the exit
• Finding and opening the door
• Avoiding obstacles at all times
• The maze should be solved within 5 min
• All tasks must be executed autonomously
• The system should work on any maze
• The robot mustn't get trapped in loops

Functions The functions which have to be implemented are subdivided into the different contexts. Motion functions describe how the software gets input from and supplies output to PICO. Skill functions describe how different skills are executed in the software. Lastly Task functions implement task scheduling.

The motion functions have been determined as:

• Basic actuation

Give PICO the ability to move around and rotate

• Getting information

Receive information from LRF and odometry sensors.

• Opening door

Make a sound to open door.

Files

File:Initial Design.pdf