Retake Embedded Motion Control 2018 Nr3: Difference between revisions
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The robot that is used during the project is PICO. PICO has a holonomic wheelbase with which it can drive, a Laser Range Finder (LRF) from which it can gather information about the environment (blocked/free space) and wheels that are equipped with encoders to provide odometry data. | The robot that is used during the project is PICO. PICO has a holonomic wheelbase with which it can drive, a Laser Range Finder (LRF) from which it can gather information about the environment (blocked/free space) and wheels that are equipped with encoders to provide odometry data. | ||
All software that is developed has to be tested on the robot. There is also a simulator available which provides an exact copy of PICO’s functionalities. PICO itself has an on-board computer running Ubuntu 16.04. The programming language that is used during the course and the retake is C++ and Gitlab is used to store the cod | All software that is developed has to be tested on the robot. There is also a simulator available which provides an exact copy of PICO’s functionalities. PICO itself has an on-board computer running Ubuntu 16.04. The programming language that is used during the course and the retake is C++ and Gitlab is used to store the cod | ||
= Initial Design = | |||
''' Introduction: ''' | |||
For the initial design, the requirements will be discussed as well as the functions and their specifications. Moreover, a list of the used hardware components and the diagram of the interface are shown below. | |||
Requirements | |||
-Execute all tasks autonomously. | |||
-The POI will start initially close to and is detectable at standstill. | |||
-Finish the challenges within 2 minutes. | |||
-The POI will move in such manner that, in most cases, two legs are visible. | |||
-The POI will pass trough the middle of the target strips. | |||
-The PICO must cross 80% of the target strips. | |||
-The PICO must follow the POI at a distance of approximately 0.4 [m]. | |||
-Perform all tasks without bumping with a person. | |||
-Perform all tasks without getting stuck in a loop. | |||
Revision as of 14:00, 5 August 2018
This wiki describes and explains the software that was made for and implemented on the PICO robot to complete the retake of Embedded Motion Control course 2017-2018. The mission of the retake EMC 2018 is describe in the subsection ‘The challenge ‘Follow me!’’.
The robot that is used during the project is PICO. PICO has a holonomic wheelbase with which it can drive, a Laser Range Finder (LRF) from which it can gather information about the environment (blocked/free space) and wheels that are equipped with encoders to provide odometry data. All software that is developed has to be tested on the robot. There is also a simulator available which provides an exact copy of PICO’s functionalities. PICO itself has an on-board computer running Ubuntu 16.04. The programming language that is used during the course and the retake is C++ and Gitlab is used to store the cod
Initial Design
Introduction:
For the initial design, the requirements will be discussed as well as the functions and their specifications. Moreover, a list of the used hardware components and the diagram of the interface are shown below.
Requirements
-Execute all tasks autonomously.
-The POI will start initially close to and is detectable at standstill.
-Finish the challenges within 2 minutes.
-The POI will move in such manner that, in most cases, two legs are visible.
-The POI will pass trough the middle of the target strips.
-The PICO must cross 80% of the target strips.
-The PICO must follow the POI at a distance of approximately 0.4 [m].
-Perform all tasks without bumping with a person.
-Perform all tasks without getting stuck in a loop.