Mobile Robot Control 2020 Group 4
Group Members
| Name | Student Number | |
|---|---|---|
| M. Katzmann | 1396846 | m.katzmann@student.tue.nl |
| B. Kool | 1387391 | b.kool2@student.tue.nl |
| R.O.B. Stiemsma | 0852884 | r.o.b.stiemsma@student.tue.nl |
| A.S.H. Vinjarapu | 1502859 | a.s.h.vinjarapu@student.tue.nl |
| D. van Boven | 0780958 | d.v.boven@student.tue.nl |
| R. Konings | 1394819 | r.konings@student.tue.nl |
Escape Room Challenge
As algorithm a wall-follower is chosen. If done successfully, PICO will follow the wall and reaches the finish.
This algorithm consists of the following parts:
Step 1
- The PICO moves forward until it reaches a wall.
Step 2
- The PICO aligns to the wall.
Step 3
- Then the PICO follows the wall until it reaches a corner.
Step 4
- If this corner is convex, align to the wall which is perpendicular to the previous wall and repeat Step 3.
- If this corner is concave, drive a little further until the PICO is aligned to the exit, then go straight.
Hospital Challenge
[Under construction]
For the Hospital Challenge, the design of the algorithm is divided into four parts: interaction, supervisory, mapping and navigation. Each part has its own functionality and needs to work with the other parts. This functionality is explained below:
Interaction
These are all low-level interactions consisting mostly of calls to the IO API (which represents communication with PICO).
Supervisory
This section covers the governing control logic of the proposed system. The idea is that the supervisor makes choices, tunes parameters, and controls flow-of-command within remaining code depending on its mode, and changes modes dynamically.
Mapping
This section covers the system functionalities responsible for (intelligent) navigation. All functions here have read access to the world model’s internal map and LRF envelope. The navigation can be split into two parts: pathfinding and path movement. For pathfinding, A* is chosen.
List of Meetings
| Date/Time | Roles | |
|---|---|---|
| Meeting 1 | 01-05-2020
11:00 |
Chairman: Bas
|
| Meeting 2 | 04-05-2020
11:00 |
- |
| Meeting 3 | 08-05-2020
11:00 |
Chairman: Max
|
| Meeting 4 | 11-05-2020
10:00 |
- |
| Meeting 5 | 12-05-2020
10:00 |
- |
| Meeting 6 | 15-05-2020
11:00 |
Chairman: Dominic
|
| Meeting 7 | 18-05-2020
11:00 |
- |
| Meeting 8 | 22-05-2020
11:00 |
Chairman: Roel
|
| Meeting 9 | 27-05-2020
15:00 |
- |
| Meeting 10 | 29-05-2020
11:00 |
Chairman: Rob
|
Links
These will probably be invite-based but a backup link could be useful.
Gitlab: https://gitlab.tue.nl/MRC2020/group4
Overleaf design document: https://www.overleaf.com/project/5eabeda72b3e4100010f8b40