Embedded Motion Control 2019 Group 2

Group members

• 1. Bob Clephas | 1271431
• 2. Tom van de laar | 1265938
• 3. Job Meijer | 1268155
• 4. Marcel van Wensveen | 1253085
• 5. Anish Kumar Govada | 1348701

Initial design

To complete the two assignments for the course “Embedded motion control” specific software must be written. In this design document the global architecture of the software is explained, and the given constraints and hardware is listed. This document is a first draft and will be updated during the project.

Components and functions

The components and their functions are split in software components and hardware components.

Software components | General functionality

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World model:

- Storing all the relevant data (Map / tasks / position).
- Data communication between the other components (All data goes through the world model)

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Perceptor:

- Reading sensor data and creating a local map.
- Locate the robot on this local map.
- Align global map with local map.

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Task manager:

- Dividing upcoming tasks to other modules when current task is finished.
- Interrupt a task if needed (safety / Human input).

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Path planner:

- Create a path from the combined map, current position and the desired position

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Drive controller:

- Actuates the robot such that is follows the planned path (keep speed an acceleration in mind)

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Hardware components

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PICO Robotic platform

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Sensors

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Actuators

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Computer

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Environment

The environments for both assignments will meet the following specifications:

Escape room challenge - Rectangular room, unknown dimensions. One opening with a corridor - Starting point and orientation is random, but equal for all groups - Opening will be perpendicular to the room - Far end of the corridor will be open - Wall will not be perfectly straight, walls of the corridor will not be perfectly parallel - Finish line is at least 3 meters in the corridor, walls of the corridor will be a little bit longer

Final challenge - Walls will be perpendicular to each other - Dynamic elements will be in the area - Not all objects will have the same orientation - Multiple rooms with doors

Interface

TODO