Embedded Motion Control 2012 Group 2: Difference between revisions
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*Path detection (openings in wall and possible driving directions) | *Path detection (openings in wall and possible driving directions) | ||
**Laser scan data | **Laser scan data | ||
*<s>Mapping (record traveled route and note crossroads)</s> | *<s>Mapping (record traveled route and note crossroads)</s> (we will probably not use this anymore) | ||
*Control center (handels data provided by nodes above and determines the commands sent to the Jazz robot) | *Control center (handels data provided by nodes above and determines the commands sent to the Jazz robot) | ||
Revision as of 09:26, 24 May 2012
Group Members
| Name | ID number | |
|---|---|---|
| T.H.A. Dautzenberg | 0657673 | T.H.A. Dautzenberg |
| V.J.M. Holten | 0655090 | V.J.M. Holten |
| D.H.J.M. v.d. Hoogen | 0662522 | D.H.J.M. v.d. Hoogen |
| B. Sleegers | 0658013 | B. Sleegers |
| Mail to all |
Tutor: Janno Lunenburg
Project Progress
Week 1
- Installation of Ubuntu, ROS and Eclipse
- C++ tutorial
Week 2
- ROS tutorial
- Meeting 1 with tutor
- Read Chapter 1 and 4 of Real-Time Concepts for Embedded Systems
- Made a presentation of Ch. 4 for lecture 2 [Slides]
- Prepared the lecture about Ch. 4
Week 3
- ROS tutorials continued
- Looking up useful information and possible packages on the ros website
- Formulating an idea to tackle the problem
- Trying to run and create new packages but running into some problems
- Presented Ch. 4
- Extra research regarding the API and Linux scheduler, as requested by Molengraft
Week 4
- Created a node which makes sure Jazz doesn't collide with the walls
- Created a node which enables Jazz to make the first left corner
- Research on different maze solving algorithm's
- Presented extra research regarding the API and the Linux scheduler briefly
Week 5
- Trying to create the path detection and autonomously cornering
Components Needed
- Wall detection
- Laser scan data: Done!
- Arrow detection
- Camera data
- Path detection (openings in wall and possible driving directions)
- Laser scan data
Mapping (record traveled route and note crossroads)(we will probably not use this anymore)- Control center (handels data provided by nodes above and determines the commands sent to the Jazz robot)
Strategy
- use the laser pointing forward to detect dead-ends, then turn 180 degrees.
- use lasers pointing left & right to keep the robot in the middle of the path.
- use lasers pointing 45 degrees left and right to detect corners. If there is a 'jump' in the data, there is a corner. The new and old laserdata are then used to create a setpoint in the middle of the corner to which it will drive. It will then turn left/right 90 degrees and start driving again until it detects a new corner.
- we will probably use the right turn algorithm.