Embedded Motion Control 2019 Group 5: Difference between revisions

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| <del>Decide next move based on given algorithm</del>
| <del>Decide next move based on given algorithm</del>
|-
|-
| rowspan="11" | Mid-level
| rowspan="9" | Mid-level
| Detect Wall
| Detect Wall
| Set a safe distance between wall and PICO. If there are too closer with each other, PICO would execute corresponding movements.
| Set a safe distance between wall and PICO. If there are too closer with each other, PICO would execute corresponding movements.
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| Identity the initial angle of PICO in the start position. And then, compute an angle -- &theta;.
| Identity the initial angle of PICO in the start position. And then, compute an angle -- &theta;.
|-
|-
| detectFinish
| Scan for Exit
| Detect the finish line
| Rotate PICO to detect all the distances between wall and robot in order to find the exact position of the corridor.
|-
|-
| detectOpenSpace
| Move to Max
| Detect an open space
| If PICO do not detect enough walls in the room, it will move to the direction of the maximal distance and detect walls again.
|-
|-
| detectOpenWorld
| Face Exit
| Detect if in the open world (like the maxe exit)
| Let PICO face to the exit corridor straightly but not perfectly. PICO would not rotate itself in a defined error range.
|-
|-
| detectTJunction
| Drive to Exit
| Detect a T-junction (where three corridors meet)
| ***
|-
|-
| detectCrossing
| Enter Exit Corridor
| Detect a crossing (where the four corridors meet)
| ***
|-
|-
| shutDown
| Follow Corridor
| Terminate robot, if required
| ***
|-
|-
| checkDoor
| rowspan="10" | Low-level
| Send a signal and wait x seconds
| Initialize
|-
| chooseCorridor
| Choose which corridor to take
|-
| rowspan="11" | Low-level
| initialize
| Initialize actuators
| Initialize actuators
|-
|-
| readSensors
| Read Data of Sensors
| Read the odometer and laser data
| Read the odometer and laser data
|-
|-
| turnLeft
| Turn Left
| Turn 90° left
| Turn 90° left
|-
|-
| turnRight
| Turn Right
| Turn 90° right
| Turn 90° right
|-
|-
| turnAround
| Turn Around
| Turn 180°
| ***
|-
|-
| stopMovement
| Stop Movement
| Stop omniwheels
| Stop omniwheels
|-
|-
| driveForward
| Drive Forward
| Accelerate or decelerate
| Accelerate or decelerate
|-
|-
| driveBackward
| Drive Backward
| Drive backward
| Drive backward
|-
|-
| driveLeft
| Drive Left
| Move left
| Move left
|-
|-
| driveRight
| Drive Right
| Move right
| Move right
|-
| ringBell
| Ring the bell of the door.
|}
|}


Revision as of 13:10, 3 June 2019

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

Requirements

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.
Scan for Exit Rotate PICO to detect all the distances between wall and robot in order to find the exact position of the corridor.
Move to Max If PICO do not detect enough walls in the room, it will move to the direction of the maximal distance and detect walls again.
Face Exit Let PICO face to the exit corridor straightly but not perfectly. PICO would not rotate itself in a defined error range.
Drive to Exit ***
Enter Exit Corridor ***
Follow Corridor ***
Low-level Initialize Initialize actuators
Read Data of Sensors Read the odometer and laser data
Turn Left Turn 90° left
Turn Right Turn 90° right
Turn Around ***
Stop Movement Stop omniwheels
Drive Forward Accelerate or decelerate
Drive Backward Drive backward
Drive Left Move left
Drive Right Move right

Interfaces

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.

Move to max

Face exit

Exit undetectable

Orient to exit wall

Drive to exit

Enter exit corridor

Exit corridor follow

Stop

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.

here

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
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