Embedded Motion Control 2017 Group 2
Welcome on the group 2 page.
Weekly meetings are on Friday morning.
Group Members
| Name: | Report name: | Student id: |
| Matthijs van der Burgh | M.F.B. van der Burgh | 0771381 |
| Joep Linssen | J.M.H.G.H. Linssen | 0815502 |
| Daniël Pijnenborg | D.H.G. Pijnenborg | 0821583 |
| Joeri Roelofs | J. Roelofs | 1029491 |
| Sil Schouten | S. Schouten | 0821521 |
| Rens Slenders | R. Slenders | 1028611 |
| Yanick Douven | Y.G.M. Douven | Tutor |
Minutes
Minutes of team meetings are available here: [1]
Initial design
Introduction
The goal of this project is to autonomously solve a maze with a robot (PICO) as fast as possible. The robot has sensors, actuators and a computer on board to navigate through the maze. The computer runs on Linux 14.04 and the program language used for the software is C++. In this section the initial design is discussed, which consist of the requirements, functions, components, specifications and interfaces. This design will be used to build structured software and define required interfaces.
Requirements To solve the maze problem the following are required
- Finding the exit
- Finding and opening the door
- Avoiding obstacles at all times
- The maze should be solved within 5 min
- All tasks must be executed autonomously
- The system should work on any maze
- The robot mustn't get trapped in loops
Functions The functions which have to be implemented are subdivided into the different contexts. Motion functions describe how the software gets input from and supplies output to PICO. Skill functions describe how different skills are executed in the software. Lastly Task functions implement task scheduling.
The motion functions have been determined as:
- Basic actuation
Give PICO the ability to move around and rotate
- Getting information
Receive information from LRF and odometry sensors.
- Opening door
Make a sound to open door.