Embedded Motion Control 2014 Group 1

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Group Info

Name: Student id: Email:
Groupmembers (email all)
Sander Hoen 0609581 s.j.l.hoen@student.tue.nl
Marc Meijs 0761519 m.j.meijs@student.tue.nl
Wouter van Buul 0675642 w.b.v.buul@student.tue.nl
Richard Treuren 0714998 h.a.treuren@student.tue.nl
Joep van Putten 0588616 b.j.c.v.putten@student.tue.nl
Tutor
Sjoerd van den Dries n/a s.v.d.dries@tue.nl

Meetings

  1. Meeting - 2014-05-02

Planning

Week 1 (2014-04-25 - 2014-05-02)

  • Installing Ubuntu 12.04
  • Installing ROS
  • Following tutorials on C++ and ROS.
  • Setup SVN
  • Plan a strategy for the corridor challenge

Week 2 (2014-05-03 - 2014-05-09)

  • Finishing tutorials
  • Interpret laser sensor
  • Positioning of PICO


Software architecture

We have chosen to divide the main structure into conditions and states which means the following:

condition = What pico observes.

state = What pico does as a result of a certain condition.

This chosen so that different modules can be developed, tuned and tested seperately.


Driving strategy:

Two different driving strategies are examined:

Mid-line: By use of a hough-transform is a visualisation made of the surroundings of pico. By use of this visualisation a centerline trajectory can be determined and used as setpoint trajectory for pico.

Wall-tracking: Not the centerline is chosen as the to be controlled setpoint trajectory but the distance to the right wall is chosen as input. Remark: Usefull for the 'always-right'-strategy.

Method Mid-line Wall-tracking
Simplicity - +
Robustness + +
Flexibility + -
CPU time + ++

Midline strategy: Complicated trajectory planning, but flexible in corner detection.


Drive parallel.png

Midline tracking

Wall tracking strategy: Basic trajectory planning, only right wall is important.

Setpointgenerator.png

Right wall tracking

Conclusion: We think Mid-line is the best method bedause the distance between the walls can be variable and you will always be in the center of the corridor.