Mobile Robot Control 2021 Group 5
Team members
Jaap van der Stoel - 0967407
Roel van Hoof - 1247441
Remco Kuijpers - 1617931 - r.kuijpers1@student.tue.nl - 0611135100
Timo de Groot - 1629352 - t.d.groot2@student.tue.nl - 0637139510
Roy Schepers - 0996153 - r.j.m.schepers@student.tue.nl - 0631329826
Arjan Klinkenberg - 1236143 - a.m.klinkenberg@student.tue.nl
Design document
- The Design Document: File:Design Document Group 5.pdf
Escape Room Challenge
Strategy
At The start of the escape room challange, the PICO searches for the closest wall. It then drives to this wall and allignes itself sideways to the wall. The PICO then drives straight ahead until either another wall, or the exit, is detected. In the first case the PICO rotates to align itself with the new wall and drives forwards again. In the second case the PICO rotates to align with the exit and then drives through the corridor of the finish line.
Implementation
Starting and finding nearest wall
At the start of the run the PICO will turn around 360 degrees to look for the wall which is closest to the PICO. When it has identified this direction it will turn to this direction and drive straight to this wall until it is 0.4m apart from the wall.
Aligning to the walls
As PICO has driven to a wall, it has to align itself to the wall. To do so, laser range finder data is used. The laser range finder should return the same distance at coefficients 0 and 220 for PICO to be alligned to the wall. In Figure 3 it can be seen how the laser range finder coefficients are defined. As previously mentioned, PICO has driven to a nearby wall. Afterwards, it starts rotating quickly until the laser range finder data of coefficients 0 and 220 ratio is less than 0.2. Then it starts rotating slowly, until the laser range finder data of coefficients 0 and 220 ratio is less than 0.04. If this is the case, it is assumed PICO is alligned to the wall.
Driving along the wall
Now that PICO has aligned itself to the wall, it is going to drive alongside the wall. By doing so, multiple things can be sensed by the laser range finder. First off, if LRF data [500] senses a wall nearby, PICO stops, turns approximately 90 degrees, aligns itself to the wall, and starts to drive forward again. Secondly, if the ratio between LRF data [0] and [220] becomes too large, it is probable that a gap in the wall PICO is following is found. As a gap is found, PICO stops and is going to execute its exit procedure.
Exiting The Room
When PICO has identified an opening in to a wall it will start the exiting procedure. This will be done by turning around 90 degrees in the direction so that it faces the opening. It then drives sideways up to the point that it is in the middle of the exit corridor. PICO needs to drive forward and checks if it is not going too close to the wall.
Centering in the Halway
For
