Embedded Motion Control 2014 Group 12

Introduction

Namen, wie we zijn, wat we doen, email adressen

Members of group 12

Groupmembers (email all)
Name:	Student id:	Email:
Anthom van Rijn	0737682	e-mail Anthom
Jan Donkers	0724801	e-mail Jan
Jeroen Willems	0755833	e-mail Jeroen
Karel Drenth	0863408	e-mail Karel

Corridor Challange

The goal of the corridor challange is to make pico drive autonomously trhough a corridor, recognize succesfully a T-junction and have him/her take this corner.

Planning

Week 1

• Lecture

Week 2

• C++ tutorials
• ROS tutorials
• SVN tutorials
• Run the first test on pico (safe_drive.cpp) to get some hands-on experience.

Week 3

• Start the actual coding, based on the safe_drive.cpp file. Paying special attention to robustness and exceptions.
• Have pico recognize situations (corridor, corner, t-junction,dead-end, etc.) and act accordingly
• Have the script succesfully run in simulation

Week 4

• Fine tuning of script
• Corridor Competition

Experiments

• 09-05-2013

Tested the provided safe_drive file, making small alteration to see the effects on Pico. Tested how hard constrains are handeld and some different safety protocols.

• 15-05-2013

Tried, and failed, to run corridor_challange_v2 due to numerous bugs in the script. Received help from tutor regarding the basics of the pico system, as well as tips and tricks regarding Qt creator, building/making files in C++ and running simulations. Information was used to create a "how to start: Pico" tutorial. Remainder of time spent on bugfixing.

Final result

We became first in the slow catogory.

Maze Challange

Test1

Final result

We became first in the slow catogory.