Embedded Motion Control 2017 Group 10

Group Members

0773865	Tim Coerver
0953805	Pieter de Groot
0970955	Jos Terlouw
0973811	Bas Vermij
0972391	Roel Vromans
0975718	Corné van Haren

Initial Design

Requirements

• Software easy to setup
  • Updated with one easy command, e.g. 'git pull'.
  • Software can be compiled using 'cmake' and 'make'.
  • One executable to start software.

• Autonomously solving the corridor challenge
  • Solving the corridor challenge has to be done within 5 minutes.

• Autonomously solving the maze challenge
  • Solving the maze challenge has to be done within 7 minutes.

• Avoiding collision
  • Do not bump into walls or doors.

• Recognize and open a door in the maze
  • There might be multiple dead ends in the maze, one of which is a door. The robot has to be autonomously open the door (by ringing a bell) to solve the maze.

• Detect corridors, corners, T-junctions and intersections
  • The maze and corridor challenge consists of several, corridors, corners, T-junctions and intersections. Various algorithms created in order to detect these.

• Navigate through corridors, corners, T-junctions and intersections
  • When corridors, corners, T-junctions and intersections are detected, the robot has to drive trough these. In order to do this, strategies have to be created for each of these.

• Detecting dead ends
  • The maze can contain dead ends, these have to be distinguished from doors.

• Detecting maze exit
  • The exit of the maze has to be detected in order to know when the maze is finished.

• Navigate open spaces
  • The maze can contain open spaced, when these are detected these has to be explored by navigating trough them.

Components

The following components are accessible on the pico:

• Sensors
  • Laser Range Finder (LFR)
  • Wheel encoders (odometry)

• Actuators
  • Holonomic Base (Omni-wheels)

• Computer
  • CPU Intel i7
  • OS Ubuntu 14.04

Weekly Planning

- finish all tutorials if you dont have already before 8 may.
- Make design document deadline: 10 may
- Think about design.
- Think more about design.
- plan a meeting with our supervisor(s)
- Add everyone to the git repository