Embedded Motion Control 2019 Group 4
This is the CSTWiki page for group 4 of Embedded Motion Control 2019.
Group members
| Marcel Bosselaar | 0906127 |
| Ruben Sommer | 0910856 |
| Jeroen Setz | 0843356 |
| Bram Grolleman | 0757428 |
| Martijn Tibboel | 0909136 |
Deliverables
Minutes
Ideas Escape room
The following ideas are used for the excecution of the Escape room.
Plan
The initial strategy that is formulated is as follows:
This plan is updated to gain more insights and control over the different situations that can happen.
[PLAATJE]
Exit recognition
Firstly walls are created from the lrf data. Next, these small walls are merged into large walls. For this, the 'split and merge' method is used as shown below.
Then the corners are recognized. The 2 different kind of corners are recognized and from the right kind of corners the exit is generated. This is visualised below.
At last, the center point of the exit is calculated together with a point in front of this center point. This point in front is sent to the movement part of the PICO.
Finite state machine
A finite state machine is introduced in order to maintain control over what is happening at all times.
[PLAATJE]
Testing
The following testing dates are set. Also the goal of each testing date is put behind in order to stay on track of the global planning of the project.
- PICO Test 1 (2019-05-08) --> Goal: have PICO detect the exit, and perform simple motion towards it.
- PICO Test 2 (2019-05-13) --> Goal: use a more advanced algorithm to detect and move.
- PICO Test 3 (2019-05-16) --> Goal: Test improvements done based on competition results. If available, test ideas that were previously generated but would only be useful for the final competition.