Mobile Robot Control 2021 Group 5

Team members

Jaap van der Stoel - 0967407

Roel van Hoof - 1247441

Remco Kuijpers - 1617931 - r.kuijpers1@student.tue.nl - 0611135100

Timo de Groot - 1629352 - t.d.groot2@student.tue.nl - 0637139510

Roy Schepers - 0996153 - r.j.m.schepers@student.tue.nl - 0631329826

Arjan Klinkenberg - 1236143 - a.m.klinkenberg@student.tue.nl

Design document

- The Design Document: File:Design Document Group 5.pdf

Escape Room Challenge

Strategy

At The start of the escape room challange, The PICO searches for the closest wall. It then drives to this wall and allignes itself sideways to the wall. The PICO then drives straight ahead until either another wall, or the exit, is detected. In the first case the PICO rotates to align itself with the new wall and drives forwards again. In the second case the PICO rotates to align with the exit and then drives through the corridor o the finish line.

Implementation

Aligning to The walls + turning

Figure 3: Illustration of the laser range finder coefficients. In order to align PICO parallel to the wall, the laser range finder should return the same distance at coefficients 0 and 220