Mobile Robot Control 2020 Group 4

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Group Members

Name Student Number Email
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. Step 4 - If this corner is concave, drive a little further until the PICO is aligned to the exit, then go straight.

Escape Room results

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

Navigation

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
Secretary: Max

Meeting 2 04-05-2020

11:00

-

Meeting 3 08-05-2020

11:00

Chairman: Max
Secretary: Dominic

Meeting 4 11-05-2020

10:00

-

Meeting 5 12-05-2020

10:00

-

Meeting 6 15-05-2020

11:00

Chairman: Dominic
Secretary: Roel

Meeting 7 18-05-2020

11:00

-

Meeting 8 22-05-2020

11:00

Chairman: Roel
Secretary: Rob

Meeting 9 27-05-2020

15:00

-

Meeting 10 29-05-2020

11:00

Chairman: Rob
Secretary: Ananth


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

Sharepoint: https://tuenl-my.sharepoint.com/:f:/r/personal/r_konings_student_tue_nl/Documents/4SC020%20EMC?csf=1&web=1&e=g6PXRQ

Deliverables