Embedded Motion Control 2019 Group 9

Group members

Nicole Huizing | 0859610
Janick Janssen | 0756364
Merijn Veerbeek | 0865670

Design Documents

The Initial Design document can be found here: File:Initial Design Group9.pdf

The powerpoint presentation about the design is in this file: File:Presentation initial design.pdf

The powerpoint presentation about the final design can be found here: File:Presentation final design group9.pdf

Logbook

The composition of group 9 has changed twice. At first, George Maleas decided to quit the course at the 13th of May, two days before the escape room competition. At second, Merijn Floren also quit the course on the 3rd of June. The motive for both students was that they lacked the c++ programming skills to meaningfully contribute to the project. Participating in the course would take a too large investment of their time. The code for the final challenge was written by Janick Janssen, Merijn Veerbeek and Nicole Huizing.

Initial design

<<Mostly based on hospital challenge. Some remarks for escape room challenge can be made.>>

Requirements

Janick

Functions

Janick

Components

Janick

Specifications

Janick

Interfaces

Janick

Escape room challenge

Code architecture:

World Model

Nicole

Detection

Nicole

Controller

Nicole

State manager

Nicole

Wall follower

explanation & movie of simulation & movie of real challenge & discussion on approach - Nicole

Exitfinder

explanation & movie of simulation (do we have something useful?) & discussion on approach - Janick

Hospital challenge

World model

Merijn

Perception

Janicks

Also simulation movie of updating map possible?

Localization

Merijn

Path planning

Nicole

To plan Pico's path, use is made of an A* pathplanning algorithm. This method was chosen over Dijkstra's method because it is faster. We will choose a heuristic function that is admissible, so it will be guarenteed that A* will give the shortest path from start to end.

All grid points on the map come with a boolean "accessible". Points that are close to a wall or an object receive the value 'false'. Mapping new objects is also based on this principle: whenever a new static object is detected, the gridpoints it covers will become unaccessible.

After the A* function is called with a certain start-gridpoint and end-gridpoint, it first goes through some checks. These checks assess whether the startposition and endposition are accessible and whether the startposition is the destination itself. If the startposition is unaccessible, the gridpoint itself and the points directly around it are temporarily made accessible (this is needed when Pico accidentally got too close to a wall or object).

Next, the heuristic function (direct distance) from every gridpoint to the destination is calculated.

Finite state machine

Merijn

Results

Merijn

Discussion

Merijn