Embedded Motion Control 2018 Group 7
Group Members
| TU/e Number | Name | |
|---|---|---|
| 0833049 | Sam Roovers | s dot roovers at student dot tue dot nl |
| 0886654 | Siebrand Keja | s dot c dot keja at student dot tue dot nl |
| 1022624 | Milan Haverlag | m dot a dot haverlag at student dot tue dot nl |
| 1279637 | Piyush George Alexander | p dot g dot alexander at student dot tue dot nl
|
Initial Design
The Initial Design document can be found here : File:Emc-designrequirements.pdf
Escape room competition
By the use of a corner detection program the exit is determined in the room. PICO aligns with the angle at which the exit is detected and will drive forward. A potential field must make sure that PICO does not hit any walls.
Simulation for the Escape room challenge is shown below.
Potential field method
In order to prevent PICO from crashing into the walls, obstacle avoidance is needed. For this it is chosen to implement potential field method. The potential field method works by combining a attractive force towards a desired set-point with repulsive forces generated from obstacles.
The Attractive force is calculated from the distance between the robot and the set-point. [math]\displaystyle{ r_{att} = \sqrt{(x_{set}-x_{PICO})^2+(y_{set}-y_{PICO})^2} }[/math] and the angle: [math]\displaystyle{ \alpha_{att} = tan(\frac{x_{set}-x_{PICO}}{y_{set}-y_{PICO}}) }[/math]
The attractive force is calculated using a proportional controller:
[math]\displaystyle{ F_{att} = r_{att}*K_{att} }[/math]
The repulsive forces are calculated by taking the inverse of the distance to the wall measured with the laser range finder with the following formula: [math]\displaystyle{ r_{rep}(i) = \sqrt{(x_{wall}(i)-x_{PICO})^2+(y_{wall}(i)-y_{PICO})^2} }[/math] [math]\displaystyle{ F_{rep}(i) = \frac{K_{rep}}{r_{rep}(i)^3} }[/math]
The attractive and repulsive forces are then split in their x and y parts. Their respective x an y parts are then added together:
[math]\displaystyle{ F_{tot}(x) = F_{att}(x) + \sum{F_{rep}(i)(x)} }[/math] [math]\displaystyle{ F_{tot}(y) = F_{att}(y) + \sum{F_{rep}(i)(y)} }[/math]
These Forces are then used to determine where PICO should drive to.