Embedded Motion Control 2015 Group 11

Group Members

Name	Student number	Email
Changjie Guan	0927222	c.guan@student.tue.nl
Yang Xu	0918430	y.xu.1@student.tue.nl
Bolin Zhao	0925735	b.zhao@student.tue.nl
Zhe Zhao	0815651	z.zhao@student.tue.nl
Fei Chen	0923761	f.chen@student.tue.nl
Yizhou Ye	0925611	y.ye@student.tue.nl
Yiran Liu	0843177	y.liu.1@student.tue.nl

Introduction

Task and goal: Find way out of maze as fast as possible.

Requirement

The requirement analysis base on the problem statement and divide in different level of important as ‘must’,’should’,’could’ and ‘wont'

• the robot must can get out of the maze
• the robot must take action by itself
• the robot should get out of the maze as soon as possible
• the robot won’t hint the wall

Functions

Ensure all the requirements can be meeted.

• Move forward and backward, turn around
• Detect the doors
• Detec the distance between the front wall and the robot
• Remember the path and and the door, grid the path and store it with 0 or 1, representing the pass available or not respectively.
• Each step, select a direction where is available. If the current grid has not been recorded, record it and move on. If the current gird has been recorded as well as its surrounding grids, randomly choose a grid from recorded and move on. If all the maze has been searched, the robot must go out the maze.

Activity model

Behavioural model

Behavioural model:

• Environment context
• Task context
  • Task monitor
  • Task control
• Skill context (updated to latest version)
  • Find minimum value of sensor (“index”)
  • Save data (including map, robot situation, etc.)
  • Calculate the location and situation of robot (“update”)
  • Align the robot coordinate system (Feedback angle)
  • Turn around & J-turn
  • Judge the robot is in the center of the road
  • Check and judge cross
  • Check exit (Leave the maze)
  • Check dead end (J-turn)
  • Make the robot back to the center of the road (Feedback location)
• Robot context

Structure Model

Function block – Behaviour and Structure
Ten functions:

1. Find minimum value of sensor (“index”)
2. Judge the robot is in the center of the road
3. Save data (including map, robot situation, etc.)
4. Check and judge cross
5. Calculate the location and situation of robot (“update”)
6. Make the robot back to the center of the road (Feedback location)
7. Align the robot coordinate system (Feedback angle)
8. Turn around & J-turn
9. Check exit (Leave the maze)
10. Check dead end (J-turn)

In the following, the structure model will be decoupled into Composition Pattern (5Cs). Firstly, the structure model is obtained in system level. Secondly, the lower level of the
The system level

The Coordinate

The Navigation

The Motion control

Schedule

May. 13: Corridor competition.
June. 10: Final presentation.
June. 17: Maze competition.

Corridor Competition

Our PICO failed at the corridor competiton. Fortunately, we get some feedback from it:

• The “move ahead” function was executed in open loop, with too accurate drift control.
• The robot crashed into the wall.
• The robot slide was not controlled, the judgement condition code needs to be rebuilt.

After some effort in improving code, during the second time test, our program finally works.

Algorithms

Moving forward or backward

Compare left and right distance, combined with P controller to make the PICO in the middle of corridor; Check the angle of the PICO.

Turning

• Detect range:-20°-80°,20°-80°
• Check the differences between the sensor return values
• Oval trace
• Memory the corner for DP

Presentations

• First presentation (week 3): File:First presentation.pdf
  

First presentation is about: Task-skill-motion system architecture and the composition pattern.

• Second presentation (week 6): File:Second presentation.pdf

Second presentation is more about: Coding and Composition Pattern.

• Final presentation