Embedded Motion Control 2014 Group 4
Members of group 4
| Khy, R.N. | Norent |
| Kiriouchine, V.I. | Seva |
| Kiuijk, F.J.M. van | Fransis |
| Marx, S. | Sanne |
| Smit, J. | Jorrit |
Planning
Week 1:
-Introduction Lecture
-determine course goals
Week 2:
-Install Ubuntu, ROS, fix SVN etc.: get everything up and running
-Finish all tutorials: C++, ROS
-Think of first concepts to tackle the corridor problem
-Implement first concepts: wallfinder, angle/distance controller
Week 3:
-Improve angle/distance controller
-Try to implement holonomic concept
-Meet tutor to discuss problems and project progress
-Perform Pico Test
Week 4:
...
-Corridor competition
Concepts
wallFinder
Pico should be able to recognize walls. This can be done by using the Laser Range Finder. The data received from the Laser Range Finder must be filtered to get useful data that can be used by our controller.
From this sensor we receive an array with distances, 270 degrees around Pico. This array is split in half to represent vision on the left and right side. In these two arrays we search for the smallest distance that is greater than 0.15 m (a part of the vision is blocked by Pico him/her/it-self). Finally the angle at wich these distances are with repsect to Pico are calculated. This function thus finds two distances and two corresponding angles.
Angle/Distance controller
When Pico navigates through the corridor the distances found by the wallFinder are controlled to be equal. Besides the distances, the angles at which these distances are detected should be controlled to be zero. When the closest distances left and right of pico are equal and the angles zero, Pico is oriented in the middle of the corridor oriented in the longitudinal direction, which is exactly what we want.
Holonomic movement
At the tutor meeting it became clear that Pico is equipped with omni-wheels which means holonomic movement is possible. Currently the Pico in the simulator has differential wheels. With omni-wheels the distance can be controlled independent of the angle.
Cornering
We should think of how Pico can recognize and take corners.
findExit
We should think of how Pico can recognize the exit of the corridor so that it stops moving.
Implemented concepts
wallFinder
Angle/Distance controller
Log
Week 2:
Monday 28-04-2014: Group meeting SEL/SOL
Present: Sanne, Seva, Norent, Fransis
- Installed all software on laptops
- Got the svn up and running
- Started with tutorials and discussed problems
Wednesday 30-04-2014: Meeting SEL/SOL
Present: Sanne, Fransis
- Finished tutorials
Friday 02-05-2014: Meeting OGO 2
Present: Sanne, Seva, Norent, Fransis
- Created concepts: wallFinder, angle/distance controller, exitFinder, Cornering
- Implemented the following concepts: wallFinder, angle/distance controller:
Pico now can detect walls and navigate through the corridor, not controlled optimal yet
Week 3:
Wednesday 07-05-2014: Group meeting OGO 18
Present: Sanne, Seva, Norent, Fransis
- Held first tutor meeting with Sjoerd
- Created holonomic concept
- Prepared for real world Pico test
- Preparation for the experiment by reviewing the tutorials and our work
- Tested code on Pico
- Saved logfiles
- Observed Pico's behaviour as expected
- <il>Safety precautions work
<il>Speed limits work
<il>Robust for gaps in wall
<il>Robust for small corridors (width: 8e-1 [m])
<il>Robust for non-straight corridors
<il>Unable to make the turn for the corridor contest
<il>Measured Pico rectangular hitbox:
<il>front: 1.5e-1 [m]
<il>side: 2.0e-1 [m]
<il>Made videos of experiments (uploaded soon™)
Thursday 08-05-2014: First experiment with Pico
Present: Sanne, Seva, Norent, Fransis
Time Table
Overview of time spent per group member Lectures Group meetings Mastering ROS and C++ Preparing midterm assignment Preparing final assignment Wiki progress report Other activities Week_1_Norent 2 Week_1_Seva 2 6 Week_1_Fransis Week_1_Sanne 2 2 Week_1_Jorrit Week_2_Norent 2 6 Week_2_Seva Week_2_Fransis 2 4 6 Week_2_Sanne 2 6 4 0.5 Week_2_Jorrit Week_3_Norent 1 3 3 1 Week_3_Seva Week_3_Fransis 7 Week_3_Sanne Week_3_Jorrit Week_4_Norent Week_4_Seva Week_4_Fransis Week_4_Sanne Week_4_Jorrit Week_5_Norent Week_5_Seva Week_5_Fransis Week_5_Sanne Week_5_Jorrit Week_6_Norent Week_6_Seva Week_6_Fransis Week_6_Sanne Week_6_Jorrit Week_7_Norent Week_7_Seva Week_7_Fransis Week_7_Sanne Week_7_Jorrit Week_8_Norent Week_8_Seva Week_8_Fransis Week_8_Sanne Week_8_Jorrit Week_9_Norent Week_9_Seva Week_9_Fransis Week_9_Sanne Week_9_Jorrit Week_10_Norent Week_10_Seva Week_10_Fransis Week_10_Sanne Week_10_Jorrit - Preparation for the experiment by reviewing the tutorials and our work