Embedded Motion Control 2013 Group 1: Difference between revisions

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=== Week 2 ===
=== Week 2 ===


Flowchart of the situation node
State diagram made of nodes Localisation and Situation
Each end point can be of interest to map the current situation.
 
[[File:flowchart situation.gif]]
 
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)
[[File:flowchart location.gif]]
 
The localisation node produces a message containing 3 float32.
The first float32 represents the average angle (in radians) of the 2 lines between which the robot is driving.
(a value of zero means that the robot is driving straight through the corridor, negative value means that the )
This value is a input for the motion node to correct the driving angle
 
The second float32 represents the shortest distance (in centimeters) between the detected line at the left of the robot and the current position.
The third float32 represents the shortest distance (in centimeters) between the detected line at the right of the robot and the current position.
these values are 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 ==
== Software architecture ==

Revision as of 15:49, 23 September 2013

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

State diagram made of nodes Localisation and Situation

Software architecture

Software architecture.jpg

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

Theory

Usefull links

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