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
3. Meeting - 2013-09-18

(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

IO Data structures

#	Datatype	Published by	Topic	Description
A	LaserScan	Pico	/pico/laser	Laser scan data. For info click here
B	Int32MultiArray	lineDetector	/HoughLines	Every 4 elements represent a line element i.e. [x,y,x',y',...] with a maximum of 5 lines. Hence the array will at most contain 20 elements. The coordinates represent a line in the cartesian coordinate system with Pico being the center e.g. (0,0). Further the coordinate system turns along with Pico.
C	Int32MultiArray
D	Custom message (3x booleans, 1x Float32)
E
F	Custom message (3x Float32)
G	Custom message (2x Float32)

Software development

localisation code (matlab generated)

clc %%x is driving direction!

Y1_1=-5; X1_1=-2;

Y1_2=-6; X1_2=6;

Y2_1=6; X2_1=-5;

Y2_2=5; X2_2=-6;

rc1=(X1_1-X1_2)/(Y1_1-Y1_2) %%of left-hand line
rc2=(X2_1-X2_2)/(Y2_1-Y2_2) %%of right-hand line

%%##determine relative driving angle
Theta=tan(rc1+rc2)/2

%%##determine distance to left wall
offset1=X1_1-Y1_1*rc1;
Y1=-offset1/rc1

%%##determine distance to right wall
offset2=X2_1-Y2_1*rc2;
Y2=-offset2/rc2

Theory

include hough transform here

Usefull links

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