Embedded Motion Control 2014 Group 1: Difference between revisions
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5. collision <br> | 5. collision <br> | ||
6. exit (stop with the program). <br> | 6. exit (stop with the program). <br> | ||
'''setpoint generator - Wouter''' <br> | '''setpoint generator - Wouter''' <br> | ||
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function: Create setpoint for position of pico by use of state. (determine wanted position and speed). <br> | function: Create setpoint for position of pico by use of state. (determine wanted position and speed). <br> | ||
output: speed and position <br> | output: speed and position <br> | ||
== PICO states corridor challenge == | |||
For the robot, the internal states can be visualized as in the following figure:<br /> | |||
[[File:Automaton_corridor01.png|500px]] | |||
Revision as of 17:43, 12 May 2014
Group Info
| Name: | Student id: | Email: |
| Groupmembers (email all) | ||
| Sander Hoen | 0609581 | s.j.l.hoen@student.tue.nl |
| Marc Meijs | 0761519 | m.j.meijs@student.tue.nl |
| Wouter van Buul | 0675642 | w.b.v.buul@student.tue.nl |
| Richard Treuren | 0714998 | h.a.treuren@student.tue.nl |
| Joep van Putten | 0588616 | b.j.c.v.putten@student.tue.nl |
| Tutor | ||
| Sjoerd van den Dries | n/a | s.v.d.dries@tue.nl |
Meetings
Time Table
Fill in the time you spend on this course on Dropbox "Time survey 4k450.xlsx"
Planning
Week 1 (2014-04-25 - 2014-05-02)
- Installing Ubuntu 12.04
- Installing ROS
- Following tutorials on C++ and ROS.
- Setup SVN
- Plan a strategy for the corridor challenge
Week 2 (2014-05-03 - 2014-05-09)
- Finishing tutorials
- Interpret laser sensor
- Positioning of PICO
Software architecture
We decided to use a architecture as seen as the following figure: (Joep ->> insert here the figure).
The components with their respective functions and in and outputs are listed here + who wil work on it:
Line detection - Sander
inputs: --
function: transformation of raw data to lines by use of hough-transform
output: lines consisting out of start and end point (x_1,y_1),(x_2,y_2) etc.
Position - Richard
inputs: line coordinates
function: Determine distance to wall to left, right and front wall. Also determines angle theta with respect to the corridor.
output: (X_left, X_right, Y, theta) also named 'relative position'
Drive - Marc
inputs: setpoint, relative position
function: make sure that pico is positioned centered if this is needed and turn when needed.
outputs: (Moving pico)
state recognition - Joep
inputs: lines, vision, relative position
function: recognize situation and transform this to one of the states.
For the corridor challenge the following states are defined:
1. initialization
2. exit left
3. exit right
4. straight driving
5. collision
6. exit (stop with the program).
setpoint generator - Wouter
input: state, relative position
function: Create setpoint for position of pico by use of state. (determine wanted position and speed).
output: speed and position
PICO states corridor challenge
For the robot, the internal states can be visualized as in the following figure:
