Embedded Motion Control 2018 Group 3

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: Laser Range Finder (LRF) and wheel encoders (odometry)

- Actuator: Holonomic base (omni-wheels)

- Computer: Intel i7 and 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