Embedded Motion Control 2019 Group 2: Difference between revisions
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'''Software components and their general functionalities''' | '''Software components and their general functionalities''' | ||
---- | ---- | ||
World model: | World model: <br /> | ||
- Storing all the relevant data (Map / tasks / position). | - Storing all the relevant data (Map / tasks / position). <br /> | ||
- Data communication between the other components (All data goes through the world model) | - Data communication between the other components (All data goes through the world model)<br /> | ||
---- | ---- | ||
Perceptor: | Perceptor: <br /> | ||
- Reading sensor data and creating a local map. | - Reading sensor data and creating a local map.<br /> | ||
- Locate the robot on this local map. | - Locate the robot on this local map.<br /> | ||
- Align global map with local map. | - Align global map with local map.<br /> | ||
---- | ---- | ||
Task manager: | Task manager:<br /> | ||
- Dividing upcoming tasks to other modules when current task is finished. | - Dividing upcoming tasks to other modules when current task is finished.<br /> | ||
- Interrupt a task if needed (safety / Human input). | - Interrupt a task if needed (safety / Human input).<br /> | ||
---- | ---- | ||
Path planner: | Path planner:<br /> | ||
- Create a path from the combined map, current position and the desired position | - Create a path from the combined map, current position and the desired position<br /> | ||
---- | ---- | ||
Drive controller: | Drive controller:<br /> | ||
- Actuates the robot such that is follows the planned path (keep speed an acceleration in mind) | - Actuates the robot such that is follows the planned path (keep speed an acceleration in mind)<br /> | ||
---- | ---- | ||
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'''Hardware components and their general functionalities''' | '''Hardware components and their general functionalities''' | ||
---- | ---- | ||
PICO Robotic platform: | PICO Robotic platform:<br /> | ||
- Jazz telepresence robot: General framework with all the hardware. This framework will allow to execute the assignments | - Jazz telepresence robot: General framework with all the hardware. This framework will allow to execute the assignments<br /> | ||
---- | ---- | ||
Sensors: | Sensors:<br /> | ||
- Laser range finder: scan environment and detect objects | - Laser range finder: scan environment and detect objects. <br /> | ||
- wheel encoders: determine the traveled distance by the wheels. | - wheel encoders: determine the traveled distance by the wheels. <br /> | ||
- 170 deg wide angle camera: can be used for vision system (object detection for example). | - 170 deg wide angle camera: can be used for vision system (object detection for example).<br /> | ||
---- | ---- | ||
Actuators: | Actuators: <br /> | ||
- Holonomic base (omni-wheels): allows the robot to move on the ground. | - Holonomic base (omni-wheels): allows the robot to move on the ground. <br /> | ||
- Pan-tilt unit for head: can be used to move the head with the display and camera. | - Pan-tilt unit for head: can be used to move the head with the display and camera. <br /> | ||
---- | ---- | ||
Computer: | Computer: <br /> | ||
- Intel I7 processor: Perform computations. | - Intel I7 processor: Perform computations. <br /> | ||
- OS: Ubuntu 16.04 (64-bit): Software that allows execution of programs. | - OS: Ubuntu 16.04 (64-bit): Software that allows execution of programs. <br /> | ||
- ROS with own software layer: Allows to easily make connections between software. | - ROS with own software layer: Allows to easily make connections between software. <br /> | ||
---- | ---- | ||
Revision as of 20:08, 5 May 2019
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.
Requirements and specifications
Components and functions
The components and their functions are split in software components and hardware components.
Software components and their general functionalities
World model:
- Storing all the relevant data (Map / tasks / position).
- Data communication between the other components (All data goes through the world model)
Perceptor:
- Reading sensor data and creating a local map.
- Locate the robot on this local map.
- Align global map with local map.
Task manager:
- Dividing upcoming tasks to other modules when current task is finished.
- Interrupt a task if needed (safety / Human input).
Path planner:
- Create a path from the combined map, current position and the desired position
Drive controller:
- Actuates the robot such that is follows the planned path (keep speed an acceleration in mind)
Hardware components and their general functionalities
PICO Robotic platform:
- Jazz telepresence robot: General framework with all the hardware. This framework will allow to execute the assignments
Sensors:
- Laser range finder: scan environment and detect objects.
- wheel encoders: determine the traveled distance by the wheels.
- 170 deg wide angle camera: can be used for vision system (object detection for example).
Actuators:
- Holonomic base (omni-wheels): allows the robot to move on the ground.
- Pan-tilt unit for head: can be used to move the head with the display and camera.
Computer:
- Intel I7 processor: Perform computations.
- OS: Ubuntu 16.04 (64-bit): Software that allows execution of programs.
- ROS with own software layer: Allows to easily make connections between software.
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