Mobile Robot Control 2020 Group 3

Team members

M.N. de Boer (Martijn)

G.J.L. Creugers (Gijs)

P. Leonavicius (Pijus)

A.L. Nooren (Anna Lisa)

M.K. Salahuddin (Mohamed Kaleemuddin)

S. Narla (Shashank)

Design Document

Requirements:

The following requirements regarding task performance, safety and sofware should be satisfied by the simulated PICO robot:

• Task performance
  • The robot must be able to recognize target cabinets
  • The robot is capable of planning a path and is able to adapt to unexpected circumstances, for instance a closed door.
  • PICO can rotate in place, in order to re-position when in front of a cabinet
  • Must be able to announce the completion of the current objective
  • The robot should not be inactive for more than 25 seconds.
  • The robot has to be able to detect static and dynamic object and present them in the world model.
• Safety
  • The robot avoids bumping into walls and doors
  • The robot avoids collisions with static and dynamic obstacles
  • PICO must obey the limits on translation and rotation velocity
  • PICO should maintain a 5cm Stopping distance from the obstacle.
• Software
  • The software is started by a single executable
  • The software can be easily updated .
  • The User-interaction should be minimal and User-friendly.

Functions:

Input data processing

• Laser range finder interpretation

Inputs: distance and angle from LaserData Interpreting data generated by the laser range finder, using a 2D SLAM algorithm.

• Odometer interpretation

Inputs: OdometryData Calculates speed of the mobile robot integrating position values, relays the data to the SLAM algorithm.

• Sensor Fusion

Combining sensory information from multiple sensors can have uncertainty.This module can help to have reliable information flow to correlate and deconstruct data.

• Vector map data interpretation

A function used for structuring data obtained from the provided map of the testing area. To be used as inputs for position estimation and path planning functions.

Mapping world model

• Surroundings detection:

Comparing the expected surroundings based on the vector map and the output of the LRF interpretation function.

• Obstacle recognition:

Given the found surroundings, the robot has to decide whether the surrounding are known walls or unknown obstacles as mark them accordingly.

• Position estimation:

Comparing the expected surroundings using the provided vector map and the outputs of the LRF and odometry interpretation functions.

Design Document