Embedded Motion Control 2018 Group 3
Group Members
| TU/e Number | Name | |
|---|---|---|
| 0848904 | Luc (L.L.M.) van den Aker | l.l.m.v.d.aker@student.tue.nl |
| 0852908 | Thomas (T.) Neilen | t.neilen@student.tue.nl |
| 0909434 | Jeroen (J.W.) van de Valk | j.w.v.d.valk@student.tue.nl |
| 0896947 | Nourdin (N.) Kaai | n.kaai@student.tue.nl |
| 0883056 | Peter (P.) van Dooren | p.v.dooren@student.tue.nl |
| 0861750 | Ties (T.J.) van Loon | t.j.v.loon@student.tue.nl |
Initial Design
Requirements: - PICO should make no collisions with any walls - PICO cannot stand still for 30 seconds or longer - For the escape room challenge, the robot should leave the room within 5 minutes - For the hospital challenge, within 5 minutes, mapping, reverse parking and obtaining the object should be done - Its surroundings should be made visible in a map - PICO should be able to reach every position in the room - PICO should be able to leave every room - PICO should make distinction between the hall and rooms - It should run autonomously, so in each challenge there should be no additional input - To start your software, only one executable has to be called - PICO should be able to recognize an object and stand still close to it
Functions: - PICO should be able to drive in any direction - PICO should be able to turn around - It should be able to detect walls - PICO has to know its own position within the mapped map - PICO is able to construct a map - It should be possible to create a trajectory to a room - PICO should be able to recognize an object
Components: - Sensors:
o Laser Range Finder (LRF) o Wheel encoders (odometry)
- Actuator:
o Holonomic base (omni-wheels)
- Computer:
o Intel i7 o Ubuntu 16.04
Specifications: - Translation maximum: 0.5 m/s - Rotation maximum: 1.2 rad/s - Range of Laser Range Finder is assumed to be bigger than maximum room dimension - The field of view of the Laser Range Finder is from -2 rad to 2 rad, divided in pieces of 0.004004 - The Laser Range Finder can only measure at one height