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

Changelog

• 13-05 Testing corridor_challenge on Pico.

With new input from experiments: updated the corridor_challange.cpp to corridor_challange_v2.cpp. Brought the function sit-eval withing the callback loop for sensor messages. This way, the situation is evaluated and updated whenever new laser data is present. Some minor typo's. Added a situation that when things are to close (hard constraint) pico shuts down. After testing it was revealed that pico is stuck in condition 0 (does not know where he is).

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.

• 13-05-2013

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

Due to unforseen circumstances, corridorchallenge v3 failed to load on pico. We resorted back to v2, which, while less robust, was still able to find the t-junction and act accordingly. The result was first place in the limited speed catagory, with a time of around 20 seconds.

Maze Challange

Test1

Final result

We became first in the slow catogory.