Embedded Motion Control 2018 Group 5
Group information
| Name | Student number | |
|---|---|---|
| M.J.W. Verhagen | 0810317 | m.j.w.verhagen@student.tue.nl |
| L.W. Feenstra | 0847751 | l.w.feenstra@student.tue.nl |
| A.J.J. Steinbusch | 0903892 | a.j.j.steinbusch@student.tue.nl |
| J.T. Galen | ... | j.t.v.galen@student.tue.nl |
Introduction
This project is part of the course Embedded Motion Control in which software is developed and applied to control an autonomous robot in real-life. The project consists of two challenges: the Escape Room challenge and the Hospital challenge. The Escape Room challenge will be an intermediate challenge that serves as preparation of the final challenge which is the Hospital challenge. In both challenges a robot has to fulfill a task autonomously. To begin with, an initial design is made in which the requirements and specifications of the two challenges are touched upon, functions that the software will be divided in, the components of the robot that will be used with their specifications and the interfaces that will be used.
Initial Design
Requirements
Functions
Components
The robot that will be used in this project is PICO which is a telepresence robot from Aldebaran. PICO moves on omni-wheels so that it can move in all directions and it can rotate along the z-axis. It contains a Laser Range Finder (LRF) to detect the walls and objects. Also, PICO is provided with wheel encoders to estimate the change in position.
PICO runs on an Intel I7 on Ubuntu 16.04. A software layer has been created onto the Robot Operating System to simplify the use. The software of this project will be programmed in C++.