Embedded Motion Control 2018 Group 3

Group Members

TU/e Number	Name	E-mail
0848904	Luc (L.L.M.) van den Aker	l.l.m.v.d.aker@student.tue.nl
0852908	Thomas (T.) Neilen	t.neilen@student.tue.nl
0909434	Jeroen (J.W.) van de Valk	j.w.v.d.valk@student.tue.nl
0896947	Nourdin (N.) Kaai	n.kaai@student.tue.nl
0883056	Peter (P.) van Dooren	p.v.dooren@student.tue.nl
0861750	Ties (T.J.) van Loon	t.j.v.loon@student.tue.nl

Initial Design

Requirements:

• PICO should make no collisions with any walls
• PICO cannot stand still for 30 seconds or longer
• For the escape room challenge, the robot should leave the room within 5 minutes
• For the hospital challenge, within 5 minutes, mapping, reverse parking and obtaining the object should be done
• Its surroundings should be made visible in a map
• PICO should be able to reach every position in the room
• PICO should be able to leave every room
• PICO should make distinction between the hall and rooms
• It should run autonomously, so in each challenge there should be no additional input
• To start your software, only one executable has to be called
• PICO should be able to recognize an object and stand still close to it

Functions:

• PICO should be able to drive in any direction
• PICO should be able to turn around
• It should be able to detect walls
• PICO has to know its own position within the mapped map
• PICO is able to construct a map
• It should be possible to create a trajectory to a room
• PICO should be able to recognize an object

Components:

• Sensors:
  • Laser Range Finder (LRF)
  • Wheel encoders (odometry)
• Actuator:
  • Holonomic base (omni-wheels)
• Computer:
  • Intel i7
  • Ubuntu 16.04

Specifications:

• Translation maximum: 0.5 m/s
• Rotation maximum: 1.2 rad/s
• Range of Laser Range Finder is assumed to be bigger than maximum room dimension
• The field of view of the Laser Range Finder is from -2 rad to 2 rad, divided in pieces of 0.004004
• The Laser Range Finder can only measure at one height

Interfaces:

Figure 1: Interface of Group 3.