Embedded Motion Control 2014 Group 10
Members of group 10
| Bas Houben | 0651942 |
| Marouschka Majoor | 0660462 |
| Eric de Mooi | 0734166 |
| Nico de Mooij | 0716343 |
Planning
Week 1
- Introduction
- Install Ubuntu
Week 2
- Determine the course goals
- Brainstorm about the robot control architecture
- Start with the tutorials
Week 3
- Continue with the tutorials
- Install ROS/QT
- Finish robot control architecture
- Brainstorm about collision principle
- Brainstorm about navigation
Week 4
- Meet with the tutor
- Finish installation
- Finish tutorials
- Write collision detection
- Write corridor navigation
- Test the written code on Pico
- Corridor challenger
Concepts
Robot program architecture
The idea of our architecture is to create different process layers. By splitting the incoming signals and combining them later, the tasks can be divided and the different processes can run in parallel. An image will be added later.
Corridor test wall detector
The wall detector determines whether the robot is close to a wall or not by determining the unblocked distances at its two sides. When either side is too close (within 30cm) it turns parallel to that side, taking a distance of 30cm from the wall.
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Corridor navigation When driving forward, Pico uses the measured distances at different angles from the laser data in order to detect corridors. These distances are visualized in the figure on the left. The red circle part covers 72 degree with a radius of 0.5m, the green circle part covers 35 degree with a radius of 1.0m and the blue circle part covers 25 degree and a distance of 1.5m. The circle part tips outside of pico are on two parallel lines 60cm apart. When each of this circle parts doesn't detect any obstacles inside, this is considered to be the corridor.
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