Embedded Motion Control 2014 Group 8

Harm van Deursen
Lex Hoefsloot
Paul Verhoekx
Teun Melief
Robin Smit

Planning

Week 2 + 3:

Installing software and do the tutorials.

Week 4: Make a program to ensure pico never hits any wall.

Make a program to ensure pico never hits any wall.

Make a program to detect a corner and to drive through the opening into the next corridor.

Win the first competition

Approach

Two approaches are investigated. The basis of both is to drive safe. Save driving is interpretated as "not hitting the walls". This is implemented as follows: if the laser scans a wall... TODO.

Now the robot does not hit any walls, the first approach can be implemented. This approach is "time-based": Pico drives between the walls. If the lasers scan a gap at the right or the left the program measures the time. Meanwhile, pico is still driving forward and is still measuring the opening. If the lasers scan a wall again, pico measures the time again. Now the time to drive from the beginning of the opening to the end of the opening is known, so also the time to drive to the middle of the opening is known. This is exactly the time pico needs to drive backwards. Now pico is driving sidewards for a specific amount of time (this time needs to be tuned). Now the robot is in the "new" corridor. The last action is to turn 90 degrees. This is done by driving a specific amount of time (dependent of the turningvelocity).

SCHEME NEEDS TO BE INCLUDED

The second approach...

Role division

driving, arrow detection, trajectory planning...