Embedded Motion Control 2019 Group 5

Welcome to the Wiki Page for Group 5 in the Embedded Motion Control Course (4SC020) 2019. This page contains the design plans and other details of our work in this course.

Team Members

Yi Qin		1328441
Muliang Du		1279874
Winston Mendonca		1369237
Shubham Ghatge		1316982
Robert Rompelberg		0905720
Mayukh Samanta		1327720

Design Document

The initial design plan for the Escape room challenge and Hospital challenge with the PICO robot could be found here.

• I just write the subtitles that are important I think and ignore the others. -- YI

Escape Room Challenge Execution

• Introductions about functions of code. Explain each mode more or less in order to let readers know what happened in our PICO. Just like what Winston did in Tuesday evening. -- YI

Startup

This mode involves computing the required angle for PICO to complete a full 360 degree view if needed. Once the angle has been determined the state switches to SCAN_FOR_EXIT.

Scan for exit

This mode searches for an exit in its available field of view which is around 230 degrees. If it does not manage to find an exit in this field of view, it uses the angle computed in the STARTUP to complete to rotate until it manages to find the exit. If it happens to be the case that it still did not manage to find any exit it switches to a state MOVE_TO_MAX. This scenario is generally encountered if PICO is initially put in a corner adjacent to the exit wall.

Hospital Competition

The main objective for PICO is to "deliver" the medicines from one cabinet to another which will be defined by the judges just before the challenge starts. The PICO will be operating under an environment amidst static and dynamic obstacles.

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Task Division - Week 21

• Status Logging Function - Muliang
• Path Planning and Environment Mapping - Mayukh
• Interpretation of Provided Environment Map - Shubham
• Capturing LRF Data into a Snapshot - Robert
• Corner/Exit detection Algorithm update - Winston
• Modularise World Model - Yi and Winston