Embedded Motion Control 2014 Group 5

Group 5

Paul Blatter

Name:	Student id:	Email:
Groupmembers (email all)
Geert van Kollenburg/td>		[mailto:]
	[]
Kevin van Doremalen	0797642	k.p.j.v.doremalen@student.tue.nl
Niek Wolma		[ ]
Robin Franssen		[ ]
Tutor
Luis Fereira	n/a	[ ]

Planning

Week 1

- Instal Ubuntu
- Instal ROS
- Setup SVN
- Tutorials

Week 2

- Continu tutorials
- Setting up program for first test

Week 3

- Finishing tutorials
- Continu on program first test
- First test robot
- Program architecture

Week 4

- Setting up program for corridor
- Second test robot
- Corridor challenge

Week 5

Week 6

Week 7

Week 8

Week 9

- Maze challenge

Introduction

The goal of this course is to implement (embedded) software design (with C++ and ROS) to let a humanoid robot navigate autonomously. The humanoid robot Pico is programmed to find its way through a maze, without user intervention.
This wiki page contains the approach and choices that were made by group 5.

Corridor Challenge

Program Architecture

Laser data

The robot contains a laser, which has a view of 270 degrees.

Odometry

Odometry is the use of data of the angular positions of the robot wheels. This data is used to estimate the position of the robot relative to a starting point. The angular positions are converted into Carthesian coordinates (x-, y- and theta-direction). This data is never fully accurate, inter alia due to wheel slip.

Camera

Driving straight forward

Wall avoidance

Maze Challenge