Embedded Motion Control 2018 Group 3: Difference between revisions

From Control Systems Technology Group
Jump to navigation Jump to search
No edit summary
Line 51: Line 51:
=Initial Design=
=Initial Design=


Requirements:
'''Requirements:'''
- PICO should make no collisions with any walls
- PICO cannot stand still for 30 seconds or longer
- For the escape room challenge, the robot should leave the room within 5 minutes
- For the hospital challenge, within 5 minutes, mapping, reverse parking and obtaining the object should be done
- Its surroundings should be made visible in a map
- PICO should be able to reach every position in the room
- PICO should be able to leave every room
- PICO should make distinction between the hall and rooms
- It should run autonomously, so in each challenge there should be no additional input
- To start your software, only one executable has to be called
- PICO should be able to recognize an object and stand still close to it


- PICO should make no collisions with any walls
'''Functions:'''
- PICO should be able to drive in any direction
- PICO should be able to turn around
- It should be able to detect walls
- PICO has to know its own position within the mapped map
- PICO is able to construct a map
- It should be possible to create a trajectory to a room
- PICO should be able to recognize an object


- PICO cannot stand still for 30 seconds or longer
'''Components:'''
- Sensors:
  o Laser Range Finder (LRF)
  o Wheel encoders (odometry)
- Actuator:
  o Holonomic base (omni-wheels)
- Computer:
  o Intel i7
  o Ubuntu 16.04


- For the escape room challenge, the robot should leave the room within 5 minutes
'''Specifications:'''
 
- Translation maximum: 0.5 m/s
- For the hospital challenge, within 5 minutes, mapping, reverse parking and obtaining the object should be done
- Rotation maximum: 1.2 rad/s
 
- Range of Laser Range Finder is assumed to be bigger than maximum room dimension
- Its surroundings should be made visible in a map
- The field of view of the Laser Range Finder is from -2 rad to 2 rad, divided in pieces of 0.004004
 
- The Laser Range Finder can only measure at one height
- PICO should be able to reach every position in the room
 
- PICO should be able to leave every room
 
- PICO should make distinction between the hall and rooms
 
- It should run autonomously, so in each challenge there should be no additional input
 
- To start your software, only one executable has to be called
 
- PICO should be able to recognize an object and stand still close to it
 
Functions:
 
- PICO should be able to drive in any direction
 
- PICO should be able to turn around
 
- It should be able to detect walls
 
- PICO has to know its own position within the mapped map
 
- PICO is able to construct a map
 
- It should be possible to create a trajectory to a room
 
- PICO should be able to recognize an object
 
Components:
 
- Sensors:
 
o Laser Range Finder (LRF)
 
o Wheel encoders (odometry)
 
- Actuator:
 
o Holonomic base (omni-wheels)
 
- Computer:
 
o Intel i7
 
o Ubuntu 16.04
 
Specifications:
 
- Translation maximum: 0.5 m/s
 
- Rotation maximum: 1.2 rad/s
 
- Range of Laser Range Finder is assumed to be bigger than maximum room dimension
 
- The field of view of the Laser Range Finder is from -2 rad to 2 rad, divided in pieces of 0.004004
 
- The Laser Range Finder can only measure at one height

Revision as of 08:12, 9 May 2018

Group Members

TU/e Number Name E-mail
0848904 Luc (L.L.M.) van den Aker l.l.m.v.d.aker@student.tue.nl
0852908 Thomas (T.) Neilen t.neilen@student.tue.nl
0909434 Jeroen (J.W.) van de Valk j.w.v.d.valk@student.tue.nl
0896947 Nourdin (N.) Kaai n.kaai@student.tue.nl
0883056 Peter (P.) van Dooren p.v.dooren@student.tue.nl
0861750 Ties (T.J.) van Loon t.j.v.loon@student.tue.nl










Initial Design

Requirements: - PICO should make no collisions with any walls - PICO cannot stand still for 30 seconds or longer - For the escape room challenge, the robot should leave the room within 5 minutes - For the hospital challenge, within 5 minutes, mapping, reverse parking and obtaining the object should be done - Its surroundings should be made visible in a map - PICO should be able to reach every position in the room - PICO should be able to leave every room - PICO should make distinction between the hall and rooms - It should run autonomously, so in each challenge there should be no additional input - To start your software, only one executable has to be called - PICO should be able to recognize an object and stand still close to it

Functions: - PICO should be able to drive in any direction - PICO should be able to turn around - It should be able to detect walls - PICO has to know its own position within the mapped map - PICO is able to construct a map - It should be possible to create a trajectory to a room - PICO should be able to recognize an object

Components: - Sensors:

  o Laser Range Finder (LRF)
  o Wheel encoders (odometry)

- Actuator:

  o Holonomic base (omni-wheels)

- Computer:

  o Intel i7
  o Ubuntu 16.04

Specifications: - Translation maximum: 0.5 m/s - Rotation maximum: 1.2 rad/s - Range of Laser Range Finder is assumed to be bigger than maximum room dimension - The field of view of the Laser Range Finder is from -2 rad to 2 rad, divided in pieces of 0.004004 - The Laser Range Finder can only measure at one height