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: Laser Range Finder (LRF) and wheel encoders (odometry)
- Actuator: Holonomic base (omni-wheels)
- Computer: Intel i7 and 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