Embedded Motion Control 2014 Group 1
Group Info
| Name: | Student id: | Email: |
| Groupmembers (email all) | ||
| Sander Hoen | 0609581 | s.j.l.hoen@student.tue.nl |
| Marc Meijs | 0761519 | m.j.meijs@student.tue.nl |
| Wouter van Buul | 0675642 | w.b.v.buul@student.tue.nl |
| Richard Treuren | 0714998 | h.a.treuren@student.tue.nl |
| Joep van Putten | 0588616 | b.j.c.v.putten@student.tue.nl |
| Tutor | ||
| Sjoerd van den Dries | n/a | s.v.d.dries@tue.nl |
Meetings
Planning
Week 1 (2014-04-25 - 2014-05-02)
- Installing Ubuntu 12.04
- Installing ROS
- Following tutorials on C++ and ROS.
- Setup SVN
- Plan a strategy for the corridor challenge
Week 2 (2014-05-03 - 2014-05-09)
- Finishing tutorials
- Interpret laser sensor
- Positioning of PICO
Software architecture
We have chosen to divide the main structure into conditions and states which means the following:
condition = What pico observes.
state = What pico does as a result of a certain condition.
This chosen so that different modules can be developed, tuned and tested seperately.
Driving strategy:
Two different driving strategies are examined:
Mid-line: By use of a hough-transform is a visualisation made of the surroundings of pico. By use of this visualisation a centerline trajectory can be determined and used as setpoint trajectory for pico.
Wall-tracking: Not the centerline is chosen as the to be controlled setpoint trajectory but the distance to the right wall is chosen as input. Remark: Usefull for the 'always-right'-strategy.
| Method | Mid-line | Wall-tracking |
| Simplicity | - | + |
| Robustness | + | + |
| Flexibility | + | - |
| CPU time | + | ++ |
Midline strategy: Complicated trajectory planning, but flexible in corner detection.
Midline tracking
Wall tracking strategy: Basic trajectory planning, only right wall is important.
Right wall tracking
Conclusion: We think Mid-line is the best method bedause the distance between the walls can be variable and you will always be in the center of the corridor.