Embedded Motion Control 2017 Group 9
Group Members
| Name: | Student id: |
| Mian Wei | X |
| Zhihao Wu | X |
| Petrus Teguh Handoko | X |
| Bo Deng | X |
| Bo Cong | X |
| Jian Wen Kok | X |
| Nico Huebel | Tutor |
Initial Design
The initial design for the maze challenge is elaborated below. It includes the requirements, functions, components, schematic of program structure, specifications and interfaces to define the working of PICO. The file for the initial design is included here: File:Assignment-for-week1.pdf
Requirements
➢ PICO drives autonomously through maze
➢ Being able to take a turn without touching a wall
➢ Being able to detect a turn or branching corridors
➢ Avoiding collisions with obstacles (including the walls)
➢ Driving straight and rotating smoothly
➢ PICO should not stand still for 30 seconds
➢ Avoid getting trapped in a loop of the maze
➢ Being able to recognize the door
Functions
Components
drive control
‐Holonomic base (omni‐wheels)
‐Pan‐tilt unit for head
detection
‐170◦ wide‐angle camer
‐Laser Range Finder (LRF)
‐Wheel encoders (odometry)
‐Asus Xtion Depth sensor
world model
computer
‐Intel I7
‐Ubuntu 14.04
Specifications
- maximum translational speed of 0.5 m/s
‐ maximum rotational speed of 1.2 rad/s
‐ Door template: length of 0.5 ‐ 1.5m and with side walls of approximately 30cm, see figure below
‐ LRF accuracy and range unknown
‐ odometer accuracy unknown
Interfaces
The odometer and LRF generates data for mapping the environment.
The algorithm sets nodes on the junction as a setpoint for navigation, plans the route and put the actuators to work accordingly.
The odometer and LRF keeps on keeping track of the environment and the software recognizes obstructions, dead ends that might be doors and junction.
Corridor challenge
design
At first, PICO moves forward with a modified potential field. When it detects the junction, the potential field goes off and stops when it is in the middle of the junction. PICO then rotates 90 degree and moves forward. When PICO detects that it is inside the junction, the potential field goes on and finishes the challenge.