Embedded Motion Control 2019 Group 4: Difference between revisions

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(Minutes 2019-04-29)
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This is the CSTWiki page for group 4 of Embedded Motion Control 2019.


== Group members ==
= Group members =
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{|
|Marcel Bosselaar
|Marcel Bosselaar
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|}


== Installation tips ==
= Tips & tricks =
[https://stackoverflow.com/questions/48147356/install-qt-on-ubuntu Install Qt]
[https://stackoverflow.com/questions/48147356/install-qt-on-ubuntu Install Qt]
= Meeting 1 - 2019/04/29 =
First group meeting, mostly used for figuring out Ubuntu and the installations, and setting up correct requirements and functions.
== Requirements ==
* PICO may not bump into walls
* PICO may not stay stationary for more than 30 seconds
* PICO must have exited the room in under 5 minutes
* PICO may not move at more than 0.5m/s in translational directions and 1.2rad/s rotational
== Functions ==
* PICO should be able to scan the room
* PICO should be able to recognize an exit
* PICO should be able to drive toward the exit
* PICO should be able to drive through the exit
* PICO should be able to stop after driving through the exit
== Additional functions ==
* PICO should be able to remember what he has seen
* PICO should function in an arbitrary environment
* PICO should be able to keep a safe distance from walls
Error is present on wheel encoders.
Don't look at individual points, but at sets of points. Laser data is relatively high-quality.
Record data for future reference.
Figure out what datastructures are generated and required by different functionalities.
Steps:
* Look for exit
* Recognize exit
* Move to exit
* Move through exit
* Stop at end of exit
Check emc::speak or emc.speak, SSH into PICO, log console output
== Homework Assignments ==
* Vision: Martijn, Marcel, Ruben
** Recognize door
** Move to different point if not recognized
** Output: corner points of exit
* Trajectory planning: Bram, Jeroen
** Input: corner points of exit
** Determine optimal trajectory (linear, spline, other)
** Line up with exit
** Incorporate collision avoidance?

Revision as of 15:04, 29 April 2019

This is the CSTWiki page for group 4 of Embedded Motion Control 2019.

Group members

Marcel Bosselaar 0906127
Ruben Sommer 0910856
Jeroen Setz 0843356
Bram Grolleman 0757428
Martijn Tibboel 0909136

Tips & tricks

Install Qt

Meeting 1 - 2019/04/29

First group meeting, mostly used for figuring out Ubuntu and the installations, and setting up correct requirements and functions.

Requirements

  • PICO may not bump into walls
  • PICO may not stay stationary for more than 30 seconds
  • PICO must have exited the room in under 5 minutes
  • PICO may not move at more than 0.5m/s in translational directions and 1.2rad/s rotational

Functions

  • PICO should be able to scan the room
  • PICO should be able to recognize an exit
  • PICO should be able to drive toward the exit
  • PICO should be able to drive through the exit
  • PICO should be able to stop after driving through the exit

Additional functions

  • PICO should be able to remember what he has seen
  • PICO should function in an arbitrary environment
  • PICO should be able to keep a safe distance from walls

Error is present on wheel encoders.

Don't look at individual points, but at sets of points. Laser data is relatively high-quality. Record data for future reference.

Figure out what datastructures are generated and required by different functionalities.

Steps:

  • Look for exit
  • Recognize exit
  • Move to exit
  • Move through exit
  • Stop at end of exit

Check emc::speak or emc.speak, SSH into PICO, log console output

Homework Assignments

  • Vision: Martijn, Marcel, Ruben
    • Recognize door
    • Move to different point if not recognized
    • Output: corner points of exit
  • Trajectory planning: Bram, Jeroen
    • Input: corner points of exit
    • Determine optimal trajectory (linear, spline, other)
    • Line up with exit
    • Incorporate collision avoidance?