https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2016_Group_1&feed=atom&action=historyEmbedded Motion Control 2016 Group 1 - Revision history2024-03-28T20:23:02ZRevision history for this page on the wikiMediaWiki 1.39.5https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2016_Group_1&diff=29767&oldid=prevS152267: /* Conclusion and recommendation */2016-06-17T20:32:34Z<p><span dir="auto"><span class="autocomment">Conclusion and recommendation</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*A top level crash avoidance and feasible target setting can be implemented.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*A top level crash avoidance and feasible target setting can be implemented.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>*Awareness of the inter-loop behavior of the robot in the actual <del style="font-weight: bold; text-decoration: none;">loop </del>is highly important. When a movement or geometry update is being made, it needs to be made sure that the robot do not miss any other geometries or drive towards an infeasible target until the next update comes. </div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>*Awareness of the inter-loop behavior of the robot in the actual <ins style="font-weight: bold; text-decoration: none;">maze </ins>is highly important. When a movement or geometry update is being made, it needs to be made sure that the robot do not miss any other geometries or drive towards an infeasible target until the next update comes. </div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*A great deal of resources from previous years can be found on the wiki. Being aware of the challenges and possible problems that can be encountered is crucial. But in the end, implementing ideas in your own way is also very important.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>*A great deal of resources from previous years can be found on the wiki. Being aware of the challenges and possible problems that can be encountered is crucial. But in the end, implementing ideas in your own way is also very important.</div></td></tr>
</table>S152267https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2016_Group_1&diff=29751&oldid=prevS131510: /* Open spaces */2016-06-17T19:10:22Z<p><span dir="auto"><span class="autocomment">Open spaces</span></span></p>
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<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>When an open-space is detected PICO finds the closest wall to its right and starts following it. The strategy that is used for the wall following is to maintain a set distance to a wall using a series of range measurements [2]. When a distance to the nearest obstacle is measured, it is possible to follow the surface by just moving in such a fashion that the smallest distance to a wall is perpendicular to the movement direction [2] . This allows for PICO to also take turns just with this algorithm. The open-space movement is illustrated in Fig.7. The wall following algorithm is a simple and efficient method for movement in open-spaces that worked sufficiently in the simulations and in the real maze and testing, which are the reasons why it was implemented in our strategy.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>When an open-space is detected PICO finds the closest wall to its right and starts following it. The strategy that is used for the wall following is to maintain a set distance to a wall using a series of range measurements [2]. When a distance to the nearest obstacle is measured, it is possible to follow the surface by just moving in such a fashion that the smallest distance to a wall is perpendicular to the movement direction [2] . This allows for PICO to also take turns just with this algorithm. The open-space movement is illustrated in Fig.7. The wall following algorithm is a simple and efficient method for movement in open-spaces that worked sufficiently in the simulations and in the real maze and testing, which are the reasons why it was implemented in our strategy<ins style="font-weight: bold; text-decoration: none;">. Implementation of this in the code can be found in the code snippet for potential field at the bottom of this page</ins>.</div></td></tr>
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</table>S131510https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2016_Group_1&diff=29750&oldid=prevS131510: /* General idea */2016-06-17T19:09:22Z<p><span dir="auto"><span class="autocomment">General idea</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== General idea ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== General idea ==</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>For the ease of implementation, a straight forward potential field algorithm is used. The robot is “pushed away” by the walls in the proximity and “attracted” by the target points decided based on the decision making strategy. To provide a smooth movement for the robot, only the walls within 30 cm radius of the robot is taken into consideration when forming the resultant force vectors on the robot. Each wall point in the relevant radius of the robot pushes the robot inversely proportional to its distance to the robot. These forces are decomposed into x and y components in order to define the angle of the repulsive force, so that the robot can move towards the opposite direction of the resulting repulsive force. Target force of the robot is also normalized, based on the x and y direction of the target with respect to the robot. </div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>For the ease of implementation, a straight forward potential field algorithm is used. The robot is “pushed away” by the walls in the proximity and “attracted” by the target points decided based on the decision making strategy. To provide a smooth movement for the robot, only the walls within 30 cm radius of the robot is taken into consideration when forming the resultant force vectors on the robot. Each wall point in the relevant radius of the robot pushes the robot inversely proportional to its distance to the robot. These forces are decomposed into x and y components in order to define the angle of the repulsive force, so that the robot can move towards the opposite direction of the resulting repulsive force. Target force of the robot is also normalized, based on the x and y direction of the target with respect to the robot<ins style="font-weight: bold; text-decoration: none;">. A snippet of the code used for the potential field can be found with the link at the bottom of this wiki page</ins>.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:PotentialField.jpg|thumb|center|700px|Fig. 4 Potential field]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:PotentialField.jpg|thumb|center|700px|Fig. 4 Potential field]]</div></td></tr>
</table>S131510https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2016_Group_1&diff=29749&oldid=prevS131510: /* Pledge algorithm */2016-06-17T19:07:46Z<p><span dir="auto"><span class="autocomment">Pledge algorithm</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= '''Pledge algorithm''' =</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= '''Pledge algorithm''' =</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>The Pledge algorithm is a modified version of the wall following algorithm such that it prevents getting stuck into loops. It’s guaranteed to reach an exit of any 2D maze from any point in the middle, without needing to mark or remember the path it takes. The Pledge algorithm has the following composition [1]. The robot starts by picking a direction and always moving in that direction when possible. When a wall is encountered, the robot should start wall following and count the number of turns it makes (e.g. right turn is -1, left turn is 1). The wall following is stopped when the total number of turns that the robot has made is zero (i.e. the counter is zero) and then move in the initially picked direction. The counting ensures that the robot won’t get stuck in a loop or a G shaped geometry and that eventually the exit will be found. The Pledge can however make the robot visit paths that have already been passed, although the counter will have a different value. For a more convenient way of keeping track of the counter, all situations that PICO might encounter are examined; as shown in Fig. 6.With this knowledge the counter value would be known for each situation and can easily be implemented in the appropriate code. </div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>The Pledge algorithm is a modified version of the wall following algorithm such that it prevents getting stuck into loops. It’s guaranteed to reach an exit of any 2D maze from any point in the middle, without needing to mark or remember the path it takes. The Pledge algorithm has the following composition [1]. The robot starts by picking a direction and always moving in that direction when possible. When a wall is encountered, the robot should start wall following and count the number of turns it makes (e.g. right turn is -1, left turn is 1). The wall following is stopped when the total number of turns that the robot has made is zero (i.e. the counter is zero) and then move in the initially picked direction. The counting ensures that the robot won’t get stuck in a loop or a G shaped geometry and that eventually the exit will be found. The Pledge can however make the robot visit paths that have already been passed, although the counter will have a different value. For a more convenient way of keeping track of the counter, all situations that PICO might encounter are examined; as shown in Fig. 6. With this knowledge the counter value would be known for each situation and can easily be implemented in the appropriate code<ins style="font-weight: bold; text-decoration: none;">. A snippet of the code can be found at the bottom of this wiki page</ins>. </div></td></tr>
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</table>S131510https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2016_Group_1&diff=29738&oldid=prevS154586 at 18:39, 17 June 20162016-06-17T18:39:26Z<p></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In the second attempt the movement speed of PICO was lowered. Due to the fixed frequency of the coding loop PICO checked for possible collisions more frequently with respect to distance. The potential field was thus able to avoid hitting the wall at the first intersection. However, this still caused problems for PICO to reach its target as it was inside of the wall. Moving the wall luckily helped PICO to continue its attempt.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In the second attempt the movement speed of PICO was lowered. Due to the fixed frequency of the coding loop PICO checked for possible collisions more frequently with respect to distance. The potential field was thus able to avoid hitting the wall at the first intersection. However, this still caused problems for PICO to reach its target as it was inside of the wall. Moving the wall luckily helped PICO to continue its attempt.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>In the description of the maze challenge, the depth of the door was defined as approximately 30 cm. Based on this, valid depth of the door was defined <del style="font-weight: bold; text-decoration: none;">as a (</del>25<del style="font-weight: bold; text-decoration: none;">,</del>35<del style="font-weight: bold; text-decoration: none;">) cm range</del>. However, in the actual maze challenge door depth was 40 cm, which is why it was failed to be detected.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>In the description of the maze challenge, the depth of the door was defined as approximately 30 cm. Based on this, valid depth of the door was defined <ins style="font-weight: bold; text-decoration: none;">in the ranges of </ins>25<ins style="font-weight: bold; text-decoration: none;">-</ins>35 <ins style="font-weight: bold; text-decoration: none;">centimeters</ins>. However, in the actual maze challenge door depth was 40 cm, which is why it was failed to be detected.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>After missing the door PICO was strongly misaligned with the maze. This was due to the wall following and the unrecognized door. The misalignment caused PICO to put the target at the right relative to the distance ahead of it and its own pose with respect to the corner. The target thus once more ended up in the wall. As with the false T-junction this may be improved by detecting whether targets are not blocked when setting them. Furthermore, additional code may be implemented that recognizes a repetition of movements to ensure that PICO will stop attempting to reach this unreachable target.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>After missing the door PICO was strongly misaligned with the maze. This was due to the wall following and the unrecognized door. The misalignment caused PICO to put the target at the right relative to the distance ahead of it and its own pose with respect to the corner. The target thus once more ended up in the wall. As with the false T-junction this may be improved by detecting whether targets are not blocked when setting them. Furthermore, additional code may be implemented that recognizes a repetition of movements to ensure that PICO will stop attempting to reach this unreachable target.</div></td></tr>
</table>S154586https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2016_Group_1&diff=29729&oldid=prevS154586 at 18:37, 17 June 20162016-06-17T18:37:04Z<p></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 19:37, 17 June 2016</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l327">Line 327:</td>
<td colspan="2" class="diff-lineno">Line 327:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The target set overall was not robust enough and the geometries encountered in the maze were not encountered during testing or simulation. Perhaps, more serious thought into how to find situations in which the code may not be applicable could’ve prevented this.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The target set overall was not robust enough and the geometries encountered in the maze were not encountered during testing or simulation. Perhaps, more serious thought into how to find situations in which the code may not be applicable could’ve prevented this.</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;"></del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">=== Missed Door ===</del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;"></del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">Two doors structure was defined in Wiki for maze challenge. One of them is dead-end and the other one is a 30cm deep wall in straight. When PICO encounters the two edges in same side, the depth between two edge is measured. If calculated depth is larger than 25cm and less than 40 cm, PICO can detect the second type of door. In the maze challenge the depth of the door is exactly 40 cm. Therefore PICO could not recognize the door.</del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Successes ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Successes ==</div></td></tr>
</table>S154586https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2016_Group_1&diff=29705&oldid=prevS157187: /* Problems */2016-06-17T18:06:58Z<p><span dir="auto"><span class="autocomment">Problems</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 19:06, 17 June 2016</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l327">Line 327:</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The target set overall was not robust enough and the geometries encountered in the maze were not encountered during testing or simulation. Perhaps, more serious thought into how to find situations in which the code may not be applicable could’ve prevented this.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The target set overall was not robust enough and the geometries encountered in the maze were not encountered during testing or simulation. Perhaps, more serious thought into how to find situations in which the code may not be applicable could’ve prevented this.</div></td></tr>
<tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;"></ins></div></td></tr>
<tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">=== Missed Door ===</ins></div></td></tr>
<tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;"></ins></div></td></tr>
<tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">Two doors structure was defined in Wiki for maze challenge. One of them is dead-end and the other one is a 30cm deep wall in straight. When PICO encounters the two edges in same side, the depth between two edge is measured. If calculated depth is larger than 25cm and less than 40 cm, PICO can detect the second type of door. In the maze challenge the depth of the door is exactly 40 cm. Therefore PICO could not recognize the door.</ins></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Successes ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Successes ==</div></td></tr>
</table>S157187https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2016_Group_1&diff=29669&oldid=prevS154586 at 17:08, 17 June 20162016-06-17T17:08:37Z<p></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 18:08, 17 June 2016</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l345">Line 345:</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>[[File:EMC_MazeChallenge_Simulation.jpg|center|<del style="font-weight: bold; text-decoration: none;">250px</del>|link=https://www.youtube.com/watch?v=HOeVZwPsNWE]]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>[[File:EMC_MazeChallenge_Simulation.jpg|center|<ins style="font-weight: bold; text-decoration: none;">350px</ins>|link=https://www.youtube.com/watch?v=HOeVZwPsNWE]]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> </div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div> </div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
</table>S154586https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2016_Group_1&diff=29668&oldid=prevS154586 at 17:07, 17 June 20162016-06-17T17:07:23Z<p></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 18:07, 17 June 2016</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l317">Line 317:</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In the second attempt the movement speed of PICO was lowered. Due to the fixed frequency of the coding loop PICO checked for possible collisions more frequently with respect to distance. The potential field was thus able to avoid hitting the wall at the first intersection. However, this still caused problems for PICO to reach its target as it was inside of the wall. Moving the wall luckily helped PICO to continue its attempt.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In the second attempt the movement speed of PICO was lowered. Due to the fixed frequency of the coding loop PICO checked for possible collisions more frequently with respect to distance. The potential field was thus able to avoid hitting the wall at the first intersection. However, this still caused problems for PICO to reach its target as it was inside of the wall. Moving the wall luckily helped PICO to continue its attempt.</div></td></tr>
<tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;"></ins></div></td></tr>
<tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">In the description of the maze challenge, the depth of the door was defined as approximately 30 cm. Based on this, valid depth of the door was defined as a (25,35) cm range. However, in the actual maze challenge door depth was 40 cm, which is why it was failed to be detected.</ins></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>After missing the door PICO was strongly misaligned with the maze. This was due to the wall following and the unrecognized door. The misalignment caused PICO to put the target at the right relative to the distance ahead of it and its own pose with respect to the corner. The target thus once more ended up in the wall. As with the false T-junction this may be improved by detecting whether targets are not blocked when setting them. Furthermore, additional code may be implemented that recognizes a repetition of movements to ensure that PICO will stop attempting to reach this unreachable target.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>After missing the door PICO was strongly misaligned with the maze. This was due to the wall following and the unrecognized door. The misalignment caused PICO to put the target at the right relative to the distance ahead of it and its own pose with respect to the corner. The target thus once more ended up in the wall. As with the false T-junction this may be improved by detecting whether targets are not blocked when setting them. Furthermore, additional code may be implemented that recognizes a repetition of movements to ensure that PICO will stop attempting to reach this unreachable target.</div></td></tr>
</table>S154586https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2016_Group_1&diff=29666&oldid=prevS154586 at 17:04, 17 June 20162016-06-17T17:04:32Z<p></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 18:04, 17 June 2016</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= '''Structure of code''' =</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= '''Structure of code''' =</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>[[File: StructureGroup1-2016.jpg|thumb|right|450px|Fig.<del style="font-weight: bold; text-decoration: none;">? </del>Flow diagram of the code structure]]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>[[File: StructureGroup1-2016.jpg|thumb|right|450px|Fig.<ins style="font-weight: bold; text-decoration: none;">8 </ins>Flow diagram of the code structure]]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The structure of the code has been centered around the pledge algorithm for maze solving. A single threaded code with a refresh frequency of 10 Hertz has been used. This frequency was considered adequately high in order not to require multithreading. As cautionary procedure a second code with a lower movement speed of the PICO robot has been made. A snippet of the main code can be found at the bottom of this wiki page.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The structure of the code has been centered around the pledge algorithm for maze solving. A single threaded code with a refresh frequency of 10 Hertz has been used. This frequency was considered adequately high in order not to require multithreading. As cautionary procedure a second code with a lower movement speed of the PICO robot has been made. A snippet of the main code can be found at the bottom of this wiki page.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">The picture </del>shows the topology of the code. Initially the robot is moving and scanning for geometry. The potential field is preventing the robot to crash while moving and the wall following may be deployed in order to move in the correct direction in open spaces. If geometry is detected, such as crossings or dead ends, the code will determine whether the robot will attempt to open a door or make a decision on where to move. After attempting to open a door the robot will scan for geometry again after waiting for 5 seconds. This way it will detect whether a door has been opened and where it can move. The picture shows that the robot may not detect geometry after trying to open the door; this may seem strange but considers the situation in which the door in a dead end opens and there is a normal corridor ahead. Once a geometry has been detected all possible directions are marked with a target.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">Fig.8 </ins>shows the topology of the code. Initially the robot is moving and scanning for geometry. The potential field is preventing the robot to crash while moving and the wall following may be deployed in order to move in the correct direction in open spaces. If geometry is detected, such as crossings or dead ends, the code will determine whether the robot will attempt to open a door or make a decision on where to move. After attempting to open a door the robot will scan for geometry again after waiting for 5 seconds. This way it will detect whether a door has been opened and where it can move. The picture shows that the robot may not detect geometry after trying to open the door; this may seem strange but considers the situation in which the door in a dead end opens and there is a normal corridor ahead. Once a geometry has been detected all possible directions are marked with a target.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The pledge algorithm is then used to decide which direction PICO should move towards. This can either be done by selecting one of the targets and using the potential field algorithm to move towards that target, or move 180 degrees based on odometry. Movement towards a target is stopped when the robot is within ten centimeters of the target. Rotation is stopped when the difference in angle according to odometry is 180 degrees.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The pledge algorithm is then used to decide which direction PICO should move towards. This can either be done by selecting one of the targets and using the potential field algorithm to move towards that target, or move 180 degrees based on odometry. Movement towards a target is stopped when the robot is within ten centimeters of the target. Rotation is stopped when the difference in angle according to odometry is 180 degrees.</div></td></tr>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The first problem encountered in the maze challenge was with an unfamiliar geometry. Primarily the exit on the right was recognized with no exit to the left; this geometry was thus recognized as a T-junction. The recognition as T-junction caused the target to be placed straight ahead of the robot, this caused PICO to place its target inside of a wall; this can be seen in the picture. The robot would thus approach the wall head-on. In the first try the potential field was not quick enough in reacting to the approaching wall and thus PICO had a collision.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The first problem encountered in the maze challenge was with an unfamiliar geometry. Primarily the exit on the right was recognized with no exit to the left; this geometry was thus recognized as a T-junction. The recognition as T-junction caused the target to be placed straight ahead of the robot, this caused PICO to place its target inside of a wall; this can be seen in the picture. The robot would thus approach the wall head-on. In the first try the potential field was not quick enough in reacting to the approaching wall and thus PICO had a collision.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>{|</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>{|</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>|[[File: MazeProblem-gr1-2016-1.png|thumb|right|750px|Fig.<del style="font-weight: bold; text-decoration: none;">8 </del>The right corner that was recognised as a junction]]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>|[[File: MazeProblem-gr1-2016-1.png|thumb|right|750px|Fig.<ins style="font-weight: bold; text-decoration: none;">9 </ins>The right corner that was recognised as a junction]]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>|}</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>|}</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=== Second attempt ===</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=== Second attempt ===</div></td></tr>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>{|</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>{|</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>|[[File: MazeProblem-gr1-2016-2.png|thumb|right|750px|Fig.<del style="font-weight: bold; text-decoration: none;">9 </del>The misalignment problem with a target set.]]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>|[[File: MazeProblem-gr1-2016-2.png|thumb|right|750px|Fig.<ins style="font-weight: bold; text-decoration: none;">10 </ins>The misalignment problem with a target set.]]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>|}</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>|}</div></td></tr>
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