Embedded Motion Control 2019 Group 5

Welcome to the Wiki Page for Group 5 in the Embedded Motion Control Course (4SC020) 2019. This page contains the design plans and other details of our work in this course.

Team Members

Yi Qin		1328441
Muliang Du		1279874
Winston Mendonca		1369237
Shubham Ghatge		1316982
Robert Rompelberg		0905720
Mayukh Samanta		1327720

Innitial Design of Escape Room Competition

Design Document

The initial design plan for the Escape room challenge and Hospital challenge with the PICO robot could be found here.

• I just write the subtitles that are important I think and ignore the others. -- YI

Functions

	Function	Description
High-level	stayBetweenWalls	Stay in the center of two walls
	createMap	Build map of surroundings
	trackPath	track the path through the map
	detectLoop	Detect a loop in the maze
	detectStack	Detect if stuck
	optimalDecision	Decide next move based on given algorithm
Mid-level	Detect Wall	Set a safe distance between wall and PICO. If there are too closer with each other, PICO would execute corresponding movements.
	Detect Corner	Detect the number of corners of the room. According to padding of distance data, I just know partial theorem of it.
	Startup	Identity the initial angle of PICO in the start position. And then, compute an angle -- θ.
	detectFinish	Detect the finish line
	detectOpenSpace	Detect an open space
	detectOpenWorld	Detect if in the open world (like the maxe exit)
	detectTJunction	Detect a T-junction (where three corridors meet)
	detectCrossing	Detect a crossing (where the four corridors meet)
	shutDown	Terminate robot, if required
	checkDoor	Send a signal and wait x seconds
	chooseCorridor	Choose which corridor to take
Low-level	initialize	Initialize actuators
	readSensors	Read the odometer and laser data
	turnLeft	Turn 90° left
	turnRight	Turn 90° right
	turnAround	Turn 180°
	stopMovement	Stop omniwheels
	driveForward	Accelerate or decelerate
	driveBackward	Drive backward
	driveLeft	Move left
	driveRight	Move right
	ringBell	Ring the bell of the door.

Escape Room Challenge Execution

• Introductions about functions of code. Explain each mode more or less in order to let readers know what happened in our PICO. Just like what Winston did in Tuesday evening. -- YI

Startup

This mode involves computing the required angle for PICO to complete a full 360 degree view if needed. Once the angle has been determined the state switches to SCAN_FOR_EXIT.

Scan for exit

This mode searches for an exit in its available field of view which is around 230 degrees. If it does not manage to find an exit in this field of view, it uses the angle computed in the STARTUP to complete to rotate until it manages to find the exit. If it happens to be the case that it still did not manage to find any exit it switches to a state MOVE_TO_MAX. This scenario is generally encountered if PICO is initially put in a corner adjacent to the exit wall.

Hospital Competition

The main objective for PICO is to "deliver" the medicines from one cabinet to another which will be defined by the judges just before the challenge starts. The PICO will be operating under an environment amidst static and dynamic obstacles.

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Task Division - Week 21

• Status Logging Function - Muliang
• Path Planning and Environment Mapping - Mayukh
• Interpretation of Provided Environment Map - Shubham
• Capturing LRF Data into a Snapshot - Robert
• Corner/Exit detection Algorithm update - Winston
• Modularise World Model - Yi and Winston