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| [https://stackoverflow.com/questions/48147356/install-qt-on-ubuntu Install Qt] | | [https://stackoverflow.com/questions/48147356/install-qt-on-ubuntu Install Qt] |
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| = Meeting 1 - 2019/04/29 = | | = Meetings = |
| First group meeting, mostly used for figuring out Ubuntu and the installations, and setting up correct requirements and functions.
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| == Requirements ==
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| * PICO may not bump into walls
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| * PICO may not stay stationary for more than 30 seconds
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| * PICO must have exited the room in under 5 minutes
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| * PICO may not move at more than 0.5m/s in translational directions and 1.2rad/s rotational
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| == Functions ==
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| * PICO should be able to scan the room
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| * PICO should be able to recognize an exit
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| * PICO should be able to drive toward the exit
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| * PICO should be able to drive through the exit
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| * PICO should be able to stop after driving through the exit
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| == Additional functions ==
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| * PICO should be able to remember what he has seen
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| * PICO should function in an arbitrary environment
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| * PICO should be able to keep a safe distance from walls
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| Error is present on wheel encoders.
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| Don't look at individual points, but at sets of points. Laser data is relatively high-quality.
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| Record data for future reference.
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| Figure out what datastructures are generated and required by different functionalities.
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| Steps:
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| * Look for exit
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| * Recognize exit
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| * Move to exit
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| * Move through exit
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| * Stop at end of exit
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| Check emc::speak or emc.speak, SSH into PICO, log console output
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| == Homework Assignments ==
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| * Vision: Martijn, Marcel, Ruben
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| ** Recognize door
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| ** Move to different point if not recognized
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| ** Output: corner points of exit
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| * Trajectory planning: Bram, Jeroen
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| ** Input: corner points of exit
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| ** Determine optimal trajectory (linear, spline, other)
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| ** Line up with exit
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| ** Incorporate collision avoidance?
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| * Information architecture: all
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| ** Think of how information should flow, see lecture slides 20190501
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| = PICO Test 1 = | | = PICO Test 1 = |
This is the CSTWiki page for group 4 of Embedded Motion Control 2019.
Group members
| Marcel Bosselaar
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0906127
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| Ruben Sommer
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0910856
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| Jeroen Setz
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0843356
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| Bram Grolleman
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0757428
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| Martijn Tibboel
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0909136
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Tips & tricks
Install Qt
Meetings
PICO Test 1
Goal: have PICO detect the exit, and perform simple motion towards it.
PICO Test 2
Goal: use a more advanced algorithm to detect and move.
PICO Test 3
Goal: test ideas that were previously generated but would only be useful for the final competition.