Embedded Motion Control 2015 Group 6

Group Members

Name:	Student id:	E-mail:
Akash Agarwal	0923269	a.agarwal@student.tue.nl
Angus Pere	0926353	a.f.pere@student.tue.nl
Ashish Yadav	0925559	a.yadav@student.tue.nl
Floris Remmen	0920072	f.remmen@student.tue.nl
S. Cagil Mayda	0926975	s.c.mayda@student.tue.nl
Ugonna Mbaekube	0927006	u.o.mbaekube@student.tue.nl
René van de Molengraft	Tutor	m.j.g.v.d.molengraft@tue.nl

 

Planning

Week 1: 22 April - 29 April

• Introduction lecture
• Meeting 1: Initial design document & C++ tutorials
• Ubuntu and other required softwares Installation

Week 2: 29 April - 6 May

• 27-04 12:00: Deadline initial design
• Finishing C++ tutorials
• Start studyin maze algorithms
• Meeting 2: Division of team roles in the project
• Reading tutorials
• Prepare presentation

Week 3: 4 May - 10 May

• 6 May: First presentation of the design

Week 4: 11 May - 17 May

• 13 May: Corridor competition

Week 5: 18 May - 24 May

• Lecture 3: Composition Pattern part II by Herman Bruyninckx

Week 6: 25 May - 31 May

• 27 May: Second presentation of the design

Week 7: 1 June - 7 June

• Lecture 4: Communication patterns

Week 8: 8 June - 14 June

• 10 June: Presentation of final design

Week 9: 15 June - 21 June

• 17 June: Final competition

Initial Deisgn

Goal

The goal of the “A-Maze-ing challenge” is to design and implement a software for the PICO robot to navigate through a maze autonomously while optimizing time.

Requirements

• To program a PICO robot to participate in the “A-Maze-ing challenge”.
• The PICO robot should be able to navigate through the maze autonomously.
• The PICO robot should be able to navigate through any maze regardless of its configuration.
• The PICO robot should be able to avoid all obstacles during its navigation through the maze including contact with the walls of the maze.
• The PICO robot should never get “stuck” at any position in the maze.
• The PICO robot should be able to make use of its sensors to navigate the maze.
• The PICO robot should have some sort of “memory” that prevents it from moving back towards paths already navigated through.
• The PICO robot should be able to find the optimal path through the maze while optimizing time.
• After navigating through the maze, the PICO robot should be able to autonomously terminate its movement.

Functions

The basic functionality of the robot are as follows:

1) Motion

• Move Forward
• Move Backwards (Reverse)
• Turn Left/Turn Right

2) Environmental Awareness

• Obstacle Detection using sensors
• Decision making during navigation
• Termination of movement on completion of the maze
• “Memory” storage
• Optimal Path calculation
• Localisation

Components and Specificications

Schematic overview of the components to be used in the software design

1) Task Context: Controls the implementation of the robots functions depending on the challenge and environmental context.

• Task Monitor: Monitors the implementation of the robots functions and sends the information to the task control feedback.
• Task Control Feedback: Implements control action on the robot based on information received from the task monitor.
• Task Control Feedforward: Contributes in the implementation of control actions on the robot depending on the state and the goal of the challenge.

2) Environmental Context: Semantic maze model.

3) Challenge Context: All information regarding the rules and the goals of the “A-Maze-ing challenge” are stored in this context.

4) Robot Context: This incorporates the low level specifications of the PICO robot.

5) Skills Context: Contains the above mentioned robot functionalities.

Interfaces

• 1st
• 2nd
• 3rd
• 4th