Mobile Robot Control 2020 Group 3

Team members

M.N. de Boer (Martijn)

G.J.L. Creugers (Gijs)

P. Leonavicius (Pijus)

A.L. Nooren (Anna Lisa)

M.K. Salahuddin (Mohamed Kaleemuddin)

S. Narla (Shashank)

Design Document

Requirements

The following requirements regarding task performance, safety and sofware should be satisfied by the simulated PICO robot:

• Task performance
  • The robot must be able to recognize target cabinets
  • The robot is capable of planning a path and is able to adapt to unexpected circumstances, for instance a closed door.
  • PICO can rotate in place, in order to re-position when in front of a cabinet
  • Must be able to announce the completion of the current objective
  • The robot should not be inactive for more than 25 seconds.
  • The robot has to be able to detect static and dynamic object and present them in the world model.
• Safety
  • The robot avoids bumping into walls and doors
  • The robot avoids collisions with static and dynamic obstacles
  • PICO must obey the limits on translation and rotation velocity
  • PICO should maintain a 5cm Stopping distance from the obstacle.
• Software
  • The software is started by a single executable
  • The software can be easily updated .
  • The User-interaction should be minimal and User-friendly.

Functions

Input data processing

• Laser range finder interpretation

Inputs: distance and angle from LaserData Interpreting data generated by the laser range finder, using a 2D SLAM algorithm.

• Odometer interpretation

Inputs: OdometryData Calculates speed of the mobile robot integrating position values, relays the data to the SLAM algorithm.

• Sensor Fusion

Combining sensory information from multiple sensors can have uncertainty.This module can help to have reliable information flow to correlate and deconstruct data.

• Vector map data interpretation

A function used for structuring data obtained from the provided map of the testing area. To be used as inputs for position estimation and path planning functions.

Mapping world model

• Surroundings detection:

Comparing the expected surroundings based on the vector map and the output of the LRF interpretation function.

• Obstacle recognition:

Given the found surroundings, the robot has to decide whether the surrounding are known walls or unknown obstacles as mark them accordingly.

• Position estimation:

Comparing the expected surroundings using the provided vector map and the outputs of the LRF and odometry interpretation functions.

Design Document