Embedded Motion Control 2014 Group 5
Group 5 is claimed by:
Geert van Kollenburg
Paul Blatter
Kevin van Doremalen
Niek Wolma
Robin Franssen
Planning
Week 1
- Instal Ubuntu - Instal ROS - Setup SVN - Tutorials
Week 2
- Continu tutorials - Setting up program for first test
Week 3
- Finishing tutorials - Continu on program first test - First test robot - Program architecture
Week 4
- Setting up program for corridor - Second test robot - Corridor challenge
Week 5
Week 6
Week 7
Week 8
Week 9
- Maze challenge
Introduction
The goal of this course is to implement (embedded) software design (with C++ and ROS) to let a humanoid robot navigate autonomously. The humanoid robot Pico is programmed to find its way through a maze, without user intervention. This wiki page contains the approach and choices that were made by group 5.
Corridor Challenge
Program Architecture
Laser data
The robot contains a laser, which has a view of 270 degrees.
Odometry
Odometry is the use of data of the angular positions of the robot wheels. This data is used to estimate the position of the robot relative to a starting point. The angular positions are converted into Carthesian coordinates (x-, y- and theta-direction). This data is never fully accurate, inter alia due to wheel slip.