Embedded Motion Control 2013 Group 3: Difference between revisions
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==Strategy== | ==Strategy== | ||
For navigating through the maze we use a "wall follower" strategy. This means that the robot will always stick to the right wall and always find it's way to the exit. In a later stage we will extend this base strategy with extra features such as the camera to detect instructions. The main robot controller can be in six states according to the conditions. The conditions are: | |||
* Dead_end_detection | |||
* Gap_detection | |||
* Crash_avoidance | |||
* Maze_finished | |||
Within these functions a flag is set when the robot is in a certain condition. All based on the data of the laser scanner. | |||
We will use one node that "spins" and subscribes to the sensordata, and publishes the velocities. | We will use one node that "spins" and subscribes to the sensordata, and publishes the velocities. |
Revision as of 13:05, 23 September 2013
Contact info
Vissers, Yorrick | 0619897 | y.vissers@student.tue.nl |
Wanders, Matthijs | 0620608 | m.wanders@student.tue.nl |
Gruntjens, Koen | 0760934 | k.g.j.gruntjens@student.tue.nl |
Bouazzaoui, Hicham | 0831797 | h.e.bouazzaoui@student.tue.nl |
Zhu ,Yifan | 0828010 | y.zhu@student.tue.nl |
Meeting hours
Mondays 11:00 --> 17:00
Wednesdays 8:45 --> 10:30
Meet with tutor: Mondays at 14:00
Planning
Ma 09 sept:
- Finish installation of everything
- Go through ROS (beginner) and C++ manual
Wo 11 sept:
- Finish ROS, C++ manuals
- Start thinking about function architecture
Ma 16 sept:
- Design architecture
- Functionality division
- Divide programming tasks
Do 19 sept:
- Finish "state stop" (Koen)
- Finish "drive_parallel" (Matthijs, Yorrick)
- Creating a new "maze/corridor" in Gazebo (Yifan)
- Simulate and build the total code using Gazebo (Hicham)
- Testing with robot at 13:00-14:00
Vr 20 sept:
- Finish "crash_avoidance"
- Coding "gap_detection" (Yifan)
- Coding "dead_end_detection" (Matthijs, Yorrick)
- Coding "maze_finished" (Koen, Hicham)
Ma 23 sept:
- Finish "drive_parallel"
- Putting things together
- Testing with robot at 12:00-13:00 (Failed due to network settings)
Wo 25 sept:
- Finish clean_rotation
- Finish gap_handling
- Putting things together
- Corridor Challenge
PICO usefull info
- minimal angle = 2,35739
- maximal angle = -2,35739
- angle increment = 0,00436554
- scan.range.size() = 1081
Strategy
For navigating through the maze we use a "wall follower" strategy. This means that the robot will always stick to the right wall and always find it's way to the exit. In a later stage we will extend this base strategy with extra features such as the camera to detect instructions. The main robot controller can be in six states according to the conditions. The conditions are:
- Dead_end_detection
- Gap_detection
- Crash_avoidance
- Maze_finished
Within these functions a flag is set when the robot is in a certain condition. All based on the data of the laser scanner.
We will use one node that "spins" and subscribes to the sensordata, and publishes the velocities.
The main controller can be in six states:
- state_initialize: return initial setpoint??
- state_drive_parallel: Keep the robot at a fixed distance (setpoint) from the right wall while driving.
- state_gap_handling: When arriving at the center of a gap (to the right). Rotate in place untill parallel with new right wall.
- state_stop: Stops the robot when necessary.
- state_finalize: When no longer between two walls and no maze in front, abort.
- state_turn_around: when at a dead end, turn around.
Design approach & conventions
- datastructures.h: put all global variables and datastructures here.
- states: each contains the functionality of a state.
- conditions: each checks a certain condition to determine the next state.
- theseus is name of the package/node to execute
- theseus_controller is the controller that is iterated and runs:
Gather conditions e.g.: crash_avoidance, gap_detection. Based on the information a state will be chosen and executed. Publish velocities.