Embedded Motion Control 2014 Group 1
Group Info
| Name: | Student id: | Email: |
| Groupmembers (email all) | ||
| Sander Hoen | 0609581 | s.j.l.hoen@student.tue.nl |
| Marc Meijs | 0761519 | m.j.meijs@student.tue.nl |
| Wouter van Buul | 0675642 | w.b.v.buul@student.tue.nl |
| Richard Treuren | 0714998 | h.a.treuren@student.tue.nl |
| Joep van Putten | 0588616 | b.j.c.v.putten@student.tue.nl |
| Tutor | ||
| Sjoerd van den Dries | n/a | s.v.d.dries@tue.nl |
Meetings
Time Table
Fill in the time you spend on this course on Dropbox "Time survey 4k450.xlsx"
Planning
Week 1 (2014-04-25 - 2014-05-02)
- Installing Ubuntu 12.04
- Installing ROS
- Following tutorials on C++ and ROS.
- Setup SVN
- Plan a strategy for the corridor challenge
Week 2 (2014-05-03 - 2014-05-09)
- Finishing tutorials
- Interpret laser sensor
- Positioning of PICO
Software architecture
We decided to use a architecture as seen as the following figure: (Joep ->> insert here the figure).
The components with their respective functions and in and outputs are listed here + who wil work on it:
Line detection - Sander
inputs: --
function: transformation of raw data to lines by use of hough-transform
output: lines consisting out of start and end point (x_1,y_1),(x_2,y_2) etc.
Position - Richard
inputs: line coordinates
function: Determine distance to wall to left, right and front wall. Also determines angle theta with respect to the corridor.
output: (X_left, X_right, Y, theta) also named 'relative position'
Drive - Marc
inputs: setpoint, relative position
function: make sure that pico is positioned centered if this is needed and turn when needed.
outputs: (Moving pico)
state recognition - Joep
inputs: lines, vision, relative position
function: recognize situation and transform this to one of the states.
For the corridor challenge the following states are defined:
1. initialization
2. exit left
3. exit right
4. straight driving
5. collision
6. exit (stop with the program).
For the robot, the internal states can be visualized as in the following figure:
setpoint generator - Wouter
input: state, relative position
function: Create setpoint for position of pico by use of state. (determine wanted position and speed).
output: speed and position