Embedded Motion Control 2018 Group 4

Group members

TU/e Number	Name	E-mail
1032743	Shuyang (S.) An	s.an@student.tue.nl
0890579	Leontine (L.I.M.) Aarnoudse	l.i.m.aarnoudse@student.tue.nl
0892629	Sander (A.J.M.) Arts	a.j.m.arts@student.tue.nl
1286560	Pranjal (P.) Biswas	p.biswas@student.tue.nl
0774811	Koen (K.J.A.) Scheres	k.j.a.scheres@student.tue.nl
0859466	Erik (M.E.W.) Vos De Wael	m.e.w.vos.de.wael@student.tue.nl

Files

File:EMC Group4 Initial Design.pdf

Initial Design

Goal

The main goal of the project is to enable PICO to autonomously map a given room and subsequently determine and execute a trajectory to leave this room. For the initial Escape Room Competition, the predefined task is completed once the finish line at the end of the corridor is crossed. For the Hospital Room Competition, the goal is to map all rooms situated in the complex, after which the robot returns to a given position from where it must be able to identify a placed object in order to position itself next to it. However, both competitions include several constraints:

• The robot must complete the task without bumping into any walls.
• The individual tasks must be completed within 5 minutes.
• The robot should not stand still for more than 30 seconds during the execution of each of the tasks.

Plan

In order to achieve the specified goal, an elaborate plan has been devised for each of the tasks that PICO needs to accomplish, which is specified below:

Escape Room Competition 1. Initially, PICO should make a $360^{\circ}$ turn once to gather information about the surrounding environment. 2. It should act accordingly depending upon the initial data that is gathered. The following three scenarios are possible:

   * A wall is detected, then it should go to the nearest wall and start following it.
   * A door is detected, then it should go to the door, cross the finish line and stop.
   * Nothing is found, then it should move forward until it detects either a wall or a door.