Embedded Motion Control 2012 Group 1

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Group Members

Name: Student id: Email:
Rein Appeldoorn 0657407 r.p.w.appeldoorn@student.tue.nl
Jeroen Graafmans 0657171 j.a.j.graafmans@student.tue.nl
Bart Peeters 0748906 b.p.j.j.peeters@student.tue.nl
Ton Peters 0662103 t.m.c.peters@student.tue.nl
Scott van Venrooij 0658912 s.j.p.v.venrooij@student.tue.nl

Tutor: Jos Elfring

Week 1

  • Installed all required software on our computers :)
  • Everybody gained some knowledge about Unix, ROS and C++.

Week 2

Week 3

  • Thought about an efficient algorithm to solve the 'maze'-problem. Depth-First-Search is proposed as a candidate algorithm.
  • Started with arrow recognition using the OpenCV package.
  • Started with map-processing to build up a tree of the maze which can be used by the decision algorithm.
  • Optimized mapping algorithm and did some processing on the map. http://cstwiki.wtb.tue.nl/images/Mapping.jpg
  • Started with navigation node for autonomous navigation of the jazz

Tasks for Week 4:
- Process map; add markers at crossings and define paths between these markers for navigation

Week 4

  • Arrows can be detected by camera with use of the OpenCV package.
  • Robot can detect its position in a corridor with use of its laser data and can drive autonomous.

Week 5

  • Map-processing is cancelled, since the used package (hector_mapping) creates incorrect maps.
  • Now working on processing the laserdata to let the Jazz drive "autonomously"
  • Writing an algorithm by using depth-first-search, this algorithm obtains the kind of crossing, the position of the Robot and the angle of the Robot and sends the new direction to the Robot

Week 5

  • Did tests with the real Jazz Robot; some issues were find concerning the update-rate; perhals a new navigation strategy is needed.
  • New navigation strategy implemented. Still a couple of bugs that have to be fixed; this is for next week.
  • Created a visualization-class to visualize the node-structure for better perception of the algorithm.
  • Finished DFS algorithm; algorithm works now if there are no loops.

Tasks for Week 7:
- Debug navigation node; fix issue with no 'corridor' between 'corners'. - Debug algorithm; try to find some errors. - Corridor competition - Test on real robot

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