Embedded Motion Control 2017 Group 9: Difference between revisions

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=== Requirements ===
=== Requirements ===
➢ PICO drives autonomously through maze <br>
• PICO drives autonomously through maze<br>
➢ PICO should find the exit and the whole robot is across the finish line within 5 minutes. <br>
• Being able to take a turn without touching a wall <br>
➢ PICO is able to deal with approximately axis‐aligned walls, open spaces and loops in the maze. <br>
  o   Being able to detect a turn or branching corridor<br>
➢ The task has to be finished within 2 attempts in 7 minutes.  <br>
  o   Avoiding collisions with obstacles (including the walls)<br>
➢ PICO should not stand still for 30 seconds which counts as an attempt <br>
  o   Driving straight and rotating smoothly <br>
➢ PICO may not touch the wall <br>
• PICO should not stand still for 30 seconds<br>
➢ The whole PICO should stop within 1.3m to a dead end, and detect whether the dead end is a door.  <br>
• Avoid getting trapped in a loop of the maze<br>
➢ PICO should detect every dead end it encounters <br>
• Being able to recognize the door<br>
➢ At the exit PICO should drive forward for 40 cm <br>
➢ The software is easy to set‐up


=== Functions ===
=== Functions ===

Revision as of 20:12, 15 May 2017

Group Members

Name: Student id:
Mian Wei X
Zhihao Wu X
Petrus Teguh Handoko X
Bo Deng X
Bo Cong X
Jian Wen Kok X
Nico Huebel Tutor


Initial Design

File:Assignment-for-week1.pdf

Requirements

• PICO drives autonomously through maze
• Being able to take a turn without touching a wall 

 o	  Being able to detect a turn or branching corridor

 o	  Avoiding collisions with obstacles (including the walls)

 o	  Driving straight and rotating smoothly

• PICO should not stand still for 30 seconds
• Avoid getting trapped in a loop of the maze
• Being able to recognize the door

Functions

Functionsg9.jpeg

Components

drive control
‐Holonomic base (omni‐wheels)
‐Pan‐tilt unit for head

detection ‐170◦ wide‐angle camer
‐Laser Range Finder (LRF)
‐Wheel encoders (odometry)
‐Asus Xtion Depth sensor

world model
computer
‐Intel I7
‐Ubuntu 14.04

Specifications

- maximum translational speed of 0.5 m/s
‐ maximum rotational speed of 1.2 rad/s
‐ Door template: length of 0.5 ‐ 1.5m and with side walls of approximately 30cm, see figure below
‐ LRF accuracy and range unknown
‐ odometer accuracy unknown

Doortempg9.jpeg

Interfaces

The odometer and LRF generates data for mapping the environment.

The algorithm sets nodes on the junction as a setpoint for navigation, plans the route and put the actuators to work accordingly.

The odometer and LRF keeps on keeping track of the environment and the software recognizes obstructions, dead ends that might be doors and junction.

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