Embedded Motion Control 2012 Group 1: Difference between revisions
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<li>Started with arrow recognition using the OpenCV package.</li> | <li>Started with arrow recognition using the OpenCV package.</li> | ||
<li>Started with map-processing to build up a tree of the maze which can be used by the decision algorithm.</li> | <li>Started with map-processing to build up a tree of the maze which can be used by the decision algorithm.</li> | ||
<li>Optimized mapping algorithm and did some processing on the map. | <li>Optimized mapping algorithm and did some processing on the map. <br /> [[File:Mapping.jpg]]</li> | ||
<li>Started with navigation node for autonomous navigation of the jazz</li> | <li>Started with navigation node for autonomous navigation of the jazz</li> | ||
</ul> | </ul> | ||
Revision as of 12:30, 7 June 2012
Group Members
| Name: | Student id: | Email: |
| Rein Appeldoorn | 0657407 | r.p.w.appeldoorn@student.tue.nl |
| Jeroen Graafmans | 0657171 | j.a.j.graafmans@student.tue.nl |
| Bart Peeters | 0748906 | b.p.j.j.peeters@student.tue.nl |
| Ton Peters | 0662103 | t.m.c.peters@student.tue.nl |
| Scott van Venrooij | 0658912 | s.j.p.v.venrooij@student.tue.nl |
Tutor: Jos Elfring
Week 1
- Installed all required software on our computers :)
- Everybody gained some knowledge about Unix, ROS and C++.
Week 2
- Everybody gained more knowledge about Unix, ROS and C++.
- Looked at Gazebo, Rviz, Turtlebot_simulator, PR2_simulator, Jazz_robot_simulator
- Managed to create 2D map with Jazz Robot Simulator: http://www.youtube.com/watch?v=Cmh8dMrmgN0
- Made presentation of Chapter 1: Introduction, Link to the presentation: http://cstwiki.wtb.tue.nl/images/Powerpoint_Chapter_1.pdf
Week 3
- Thought about an efficient algorithm to solve the 'maze'-problem. Depth-First-Search is proposed as a candidate algorithm.
- Started with arrow recognition using the OpenCV package.
- Started with map-processing to build up a tree of the maze which can be used by the decision algorithm.
- Optimized mapping algorithm and did some processing on the map.
- Started with navigation node for autonomous navigation of the jazz
Tasks for Week 4:
- Process map; add markers at crossings and define paths between these markers for navigation
Week 4
- Arrows can be detected by camera with use of the OpenCV package.
- Robot can detect its position in a corridor with use of its laser data and can drive autonomous.
Week 5
- Map-processing is cancelled, since the used package (hector_mapping) creates incorrect maps.
- Now working on processing the laserdata to let the Jazz drive "autonomously"
- Writing an algorithm by using depth-first-search, this algorithm obtains the kind of crossing, the position of the Robot and the angle of the Robot and sends the new direction to the Robot
Week 6
- Did tests with the real Jazz Robot; some issues were find concerning the update-rate; perhaps a new navigation strategy is needed. http://youtu.be/_g9S24xXes4
- New navigation strategy implemented. Still a couple of bugs that have to be fixed; this is for next week.
- Created a visualization-class to visualize the node-structure for better perception of the algorithm.
- Finished DFS algorithm; algorithm works now if there are no loops. http://www.youtube.com/watch?v=KSjsA6BR-Bs&feature=channel&list=UL
Tasks for Week 7:
- Debug navigation node; fix issue with no 'corridor' between 'corners'.
- Debug algorithm; try to find some errors.
- Corridor competition
- Test on real robot
Week 7
- Navigation node debugged, fixed issue with no corridor between corners.
Original maze without loops solved: http://www.youtube.com/watch?v=eQblXU57aeU&feature=youtu.be
