Embedded Motion Control 2013 Group 9
Group members
Name: | Student id: | Email: |
Jeroen Lamers | 0771264 | j.w.lamers@student.tue.nl |
Rens Samplonius | 0785119 | r.j.samplonius@student.tue.nl |
Haico Ploegmakers | 0775395 | h.e.c.w.ploegmakers@student.tue.nl |
Frank Evers | 0789890 | f.evers@student.tue.nl |
Filipe Catarino | 0821789 | f.freire.catarino@student.tue.nl |
Planning
Week: | Activities: | People: |
Week 1 |
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Everbody |
Week 2 |
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Week 3 |
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Week 4 |
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Week 5 | Not yet planned | |
Week 6 | Not yet planned | |
Week 7 | Not yet planned |
Progress
Week 1: September 2 - September 8
The first week mainly consisted of installing the Ubuntu OS with all the required ROS/Gazebo software. This did not went smoothly as there is no easy available Ubuntu installation for Mac (1 member) and missing one tiny step in the Tutorials could end up with a not working environment.
It was decided that everyone should do all the tutorials to know how everything works, and that we would work with the software provided by the course material (QT for c++ and fuerte Ros).
Week 2: September 9 - September 15
During the second week everyone finished the tutorials for ROS and c++.
Robot Sensors
Researching the given example with the simulation environment shows that the laser data is acquired by scanning in a 270 degree angle with increments of 0.25 degrees. This information is saved in a a vector and can be used to obtain distances for every angle at a certain time.
Week 3: September 16 - September 22
The third week consisted of 2 parts:
- Creating the architecture of the system, by dividing all the necessary steps into functions.
- Focus on the corridor competition
System functions & Architecture
The group was split into two teams where 2 people where focusing on the architecture of the system. By doing this early it is clear how the system is going to be created. There is one main file that is able to call for all different functions that are required for the situation at hand. The focus of course is on the basic functions of the system for the corridor competition. These functions are:
- Driving in a straight line in the middle of the corridor
- Detecting the corner on either the left or the right side
- Turn into the corner and leave the corridor
- Stop outside the corridor
Corridor Competition concept
Because the contest dictates that the robot will be between the walls, and facing the end of the competition, the idea is that the robot is able to drive forward into the corridor. Because the robot is put there by human hand, and walls might not be exactly parallel there has to be some kind of control. By measuring the closest distance to the walls with the laser, the robot is able to calculate where the middle of the corridor is. The laser is then also used to calculate the angle between the robot and the wall.