Embedded Motion Control 2013 Group 1

Group Info

Name:	Abbr:	Student id:	Email:
Groupmembers (email all)
Paul Raijmakers	PR	0792801	p.a.raijmakers@student.tue.nl
Pieter Aerts	PA	0821027	p.j.m.aerts@student.tue.nl
Wouter Geelen	WG	0744855	w.geelen@student.tue.nl
Frank Horstenbach	FH	0792390	f.g.h.hochstenbach@student.tue.nl
Niels Koenraad	NK	0825990	n.j.g.koenraad@student.tue.nl
Tutor
Jos Elfring	n.a.	n.a.	j.elfring@tue.nl

Meetings

1. Meeting - 2013-09-04
2. Meeting - 2013-09-11

(Global) Planning

Week 1 (2013-09-02 - 2013-09-08)

• Installing Ubuntu 12.04
• Installing ROS Fuerte
• Following tutorials on C++ and ROS.
• Setup SVN

Week 2 (2013-09-09 - 2013-09-15)

• Discuss about splitting up the team by 2 groups (2,3) or 3 groups (2,2,1) to whom tasks can be appointed to.
• Create 2D map using the laser scanner.
• Start working on trying to detect walls with laser scanner.
• Start working on position control of Jazz (within walls i.e. riding straight ahead, turning i.e. 90 degrees).
• Start thinking about what kind of strategies we can use/implement to solve the maze (see usefull links).

Week 3 (2013-09-16 - 2013-09-22)

• Start work on trying to detect openings in walls.
• Start working on code for corridor competition.
• Continue thinking about maze solving strategy.

Week 4 (2013-09-23 - 2013-09-29)

• Decide which maze solving strategy we are going to use/implement.

Week 5 (2013-09-30 - 2013-10-06)

• To be determined.

Week 6 (2013-10-07 - 2013-10-13)

• To be determined.

Week 7 (2013-10-14 - 2013-10-20)

• To be determined.

Week 8 (2013-10-21 - 2013-10-27)

• To be determined.

Progress

Week 2

Flowchart of the situation node Each end point can be of interest to map the current situation.

The situation node produces a message containing 3 boolean and one float32. The booleans represent possible drive direction, left, straight and right. The float32 contains the distance (in centimeters) to the first corner/T-junction or dead end.

For the location node only 2 lines are necessary (one left and one right)

The localisation node produces a message containing 2 float32. The first float32 represents the average angle (in degrees) of the 2 lines between which the robot is driving. (a value of zero means that the robot is driving straight through the corridor) This value is a input for the motion node to correct the driving angle

The second float32 represents the distance (in centimeters) between the hart of the corricor (between the 2 detected lines) and the current position. (a value of zero means that the robot is driving in the middle of the corridor) This value is a input for the motion node to correct the driving position in the corridor

The next assumptions are made for the localisation node: 1: The robot needs to drive in between 2 walls 2: The walls start behind the robot and continue in front of the robot 3: When a turn is made, is should be around 90 degree, and the robot needs to drive in the corridor before localisation can be executed

Software architecture

Line:	Data type:
A	-
B	float-32 multi array (cart. points)
C	float-32 multi array (cart. points)
D	3x boolean + 1 float32
E	-
F	2x float32
G	-

Usefull links

• http://en.wikipedia.org/wiki/Maze_solving_algorithm