Embedded Motion Control 2017 Group 6

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Group members

Student ID number
Ties Hoenselaar 0857112
Hasan Ilisu 0852221
Laura de Jong 0743679
Lars Moormann 0861223
Bas Straatman 0777325
Jeroen van der Velden 0-----


Tutor: Wouter Houtman

Initial Design

Requirements

In order to achieve the goal, the following requirements have to be met:

  • The robot has to drive through any maze complying with specifications
  • It has to escape the maze within the time limit
  • Collisions with the walls must be avoided
  • Doors must be opened
  • Doors must be recognized in order to achieve the previous requirement
  • The software has to be robust for imperfections in the measurement data and disturbances
  • The robot must not be idle for a long period of time
  • The robot must not ring the bell too often
  • The robot must autonomously solve and navigate through the maze
  • The Software must be started with only one executable


Functions


Components

The following components will be used to reach the goal:

Sensors

  • Laser range finder which uses a laser beam to determine the distance to an object
  • Wheel encoders (odometry) to estimate the position of the robot relative to a starting location

Actuators

  • Holonomic base with omni-wheels
  • Bell to open the door
  • Pan-tilt unit for head (which will not be used)

Computer

  • Intel I7
  • Ubuntu 14.04



Specifications

The goal and the requirements will be achieved with the following specifications:

Robot

  • The maximum transnational speed of the robot is 0.5 m/s
  • The maximum rotational speed equals 1.2 rad/s
  • The corridor challenge has to be solved in 5 minutes
  • The maze challenge has to be solved in 7 minutes
  • Both challenges have a maximum of two trials
  • The laser range finder (LRF) has a range of 270 degrees
  • The wheel encoders have a accuracy of ...
  • The robot must not be idle for more than 30 seconds

Maze

  • The corners will be approximately 90 degrees
  • The wall distance is 0.5-1.5 meter
  • There is only 1 door in the maze
  • The door starts opening in 2 seconds
  • The door opens if the robot is within 1.3 meter of the door
  • The door is open in 5 seconds
  • The number of rings must not be larger than the number of potential doors
  • The maze may contain loops
  • The maze can contain dead ends



Interfaces

Helpful Files

Wiki Cheatsheet

Planning

Planning