Mobile Robot Control 2020 Group 7
Group Members
| Name | Student Number | |
|---|---|---|
| 1 | Mick Decates | 0957870 |
| 2 | Steven Eisinger | 1449273 |
| 3 | Gerben Erens | 0997906 |
| 4 | Roohi Jain | 1475061 |
| 5 | Mengqi Wang | 1449435 |
| 6 | Goos Wetzer | 0902160 |
Requirements
The requirements for the challenge are shown in figure 1.1. The primary requirement is safety that we need to fulfill by avoiding collision. All other requirements shall be treated equally.
Functions
Once the robot is deployed in the room, it should sense around the room and try to find the exit corridor. If it cannot find the corridor, it should move around the room in an attempt to find it. Once the corridor is found it should position itself in front of the corridor and proceed through it until crossing the finish line.The functions that the robot needs to perform these tasks are described in Figure 2.1. These functions are divided into three main components: Sense, which allows the robot to perceive and quantify its world; Reasoning, where the robot makes a decision based on its perception; and Act, which determines what action the robot performs based on its reasoning information.
Specifications
The information about what the system can do are written down in the specification tree, which can be found infigure 4.1.
Hardware Components
Sensors - Laser Range Finder
The laser range finder measures the distance from the robot to the closest obstacle for a range of angles aroundthe direction the robot is facing. The sensor data is stored in a structure called LaserData, which is described intable 3.1. There are 1000 measurements in total.
| Property | Description |
|---|---|
| range_max | The maximum range that can be measured is 10 meters |
| range_min | The minimum range that can be measured is 0.01 meters |
| angle_max | 2 radians from the direction straight ahead |
| angle_min | -2 radians from the direction straight ahead |
| angle_increment | Each angle is 0.004004 radians away from the next one |
| timestamp | Timestamp of the measurement in UNIX |
Design
