Embedded Motion Control 2015 Group 5
Group Members
| Name: | Student id: |
| Bart van Willigen | 0770142 |
| Joost Peters | 0747630 |
| Robin Loose | 0771575 |
| Koen Bos | 0763939 |
| Joost Franssen | 0824821 |
| Lotte de Koning | 0655209 |
| Marjon 't Klooster | 0819200 |
Corridor challenge
Approach
Development
Main
Tasks
Skills
Conclusion
Maze challange
Aligning and centering the robot
In order to center the robot, two laser bundles perpendicular to the robot's driving direction are used to determine the distance to the wall on the left and right side of the robot. Based on the difference between these distances, a lateral velocity is send to the robot, using a proportional controller. This controller drives the robot to the middle of the corridor. To align the robot along the corridor, three laser bundles are used. One laser bundle measures the distance to the wall perpendicular to the driving direction, and two bundles around the perpendicular bundle measure the distance to the wall. When the perpendicular bundle does not measure the smallest distance, a rotational velocity, based on the differences between the other bundles, is sent to the robot.