Embedded Motion Control 2019 Group 7
Group members:
- Guus Bauwens - 0958439
- Ruben Beumer - 0967254
- Ainse Kokkelmans - 0957735
- Johan Kon - 0959920
- Koen de Vos - 0955647
Introduction
Introduction here
Design Document
Design here
Escape room
As an intermediate assignment, PICO has to autononmously find the exit of a room. For efficient team project work, the code written to let PICO perform this assignment, should be usefull in the Final Assignment of PICO navigating a hospital.
PICO's LDR scannes from right to left (counter clockwise). The angle of a single measurement point and its corresponding distance (radius) is known. A significant absolute jump in this data means that the wall (or obstacle, but not present during this challenge) is not continuous. Around this location the exit should therefore be located as the escape room is rectangular without special shapes. The data point before and the data point after the gap indicates the gap location. However, as can be seen in the Figure to the right it does not indicate the actual (parallel) exit entrance. The points corresponding to the actual exit entrance can be found by minimizing the distance between the left and right side of the gap. This minimal distance will be the parallel or perpendicular (in this case) on the walls next to the exit. To find the minimum distance the data to the right of the right (blue) point is checked. If the data point has a smaller distance to the left (red) point, this data point is tagged as the minimum distance.
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