Embedded Motion Control/Maze competition 2015

The final competition will be held on June 27th, 13.45h at the RoboCup soccer field. The goal of this competition is to let PICO autonomously drive through a maze and find the exit. Some facts:

• Where and when:
  • Fri June 27, 13.45h - 15.30h
  • Location: RoboCup Soccer field, GEM-N
• Maze characteristics:
  • Exact location of the entrance and exit are unknown, but they will be on the boundaries of the maze
  • walls are approximately parallel to each other
  • distance between walls is approximately constant throughout the maze, and large enough for the robot to perform complete rotation without hitting the walls
  • There may be corners, T-junctions and crossings (+)
  • There will NOT be any loops in the maze
• Arrows:
  • On some T-junctions there is an arrow pointing to the side that leads to the exit (either left or right, and the arrow will never point in wrong direction)
  • Arrows are located on the highest point of the wall, i.e., clearly visible for the camera
• Start, goal and limits:
  • PICO will start with its laser range finder within the boundaries of the maze
  • You have finished the assignment if PICO did not drive into walls, found the exit and the entire rear wheel is across the finish line.
  • There will be a maximum translational velocity of 0.2 m/s (X and Y combined!) and maximum rotational velocity of 1.0 rad/s
• Scoring:
  • You have 2 attempts (= maximum one restart)
  • restart means:
    • PICO restarts at beginning of maze
    • MAZE time (= time used for scoring) is reset, BUT
    • TOTAL time keeps running
  • You have a total of 7 minutes for both attempts
  • Hit wall = that attempt fails
  • PICO standing still for 30 seconds = that attempt fails
  • No second attempt if first attempt was successful