Mobile Robot Control 2020 Group 3

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Team members

M.N. de Boer (Martijn)

G.J.L. Creugers (Gijs)

P. Leonavicius (Pijus)

A.L. Nooren (Anna Lisa)

M.K. Salahuddin (Mohamed Kaleemuddin)

S. Narla (Shashank)

Design Document

Requirements:

The following requirements regarding task performance, safety and sofware should be satisfied by the simulated PICO robot:

  • Task performance
    • The robot must be able to recognize target cabinets
    • The robot is capable of planning a path and is able to adapt to unexpected circumstances, for instance a closed door.
    • PICO can rotate in place, in order to re-position when in front of a cabinet
    • Must be able to announce the completion of the current objective
    • The robot should not be inactive for more than 25 seconds.
    • The robot has to be able to detect static and dynamic object and present them in the world model.
  • Safety
    • The robot avoids bumping into walls and doors
    • The robot avoids collisions with static and dynamic obstacles
    • PICO must obey the limits on translation and rotation velocity
    • PICO should maintain a 5cm Stopping distance from the obstacle.
  • Software
    • The software is started by a single executable
    • The software can be easily updated .
    • The User-interaction should be minimal and User-friendly.

Functions:

Input data processing

  • Laser range finder interpretation
  Inputs: distance and angle from LaserData Interpreting data generated by the laser range finder, using a 2D SLAM algorithm.
  • Odometer interpretation

Inputs: OdometryData Calculates speed of the mobile robot integrating position values, relays the data to the SLAM algorithm.

  • Sensor Fusion

Combining sensory information from multiple sensors can have uncertainty.This module can help to have reliable information flow to correlate and deconstruct data.

  • Vector map data interpretation

A function used for structuring data obtained from the provided map of the testing area. To be used as inputs for position estimation and path planning functions.

Mapping world model

  • Surroundings detection:

Comparing the expected surroundings based on the vector map and the output of the LRF interpretation function.

  • Obstacle recognition:

Given the found surroundings, the robot has to decide whether the surrounding are known walls or unknown obstacles as mark them accordingly.

  • Position estimation:

Comparing the expected surroundings using the provided vector map and the outputs of the LRF and odometry interpretation functions.


Design Document

Escaperoom challenge

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