Embedded Motion Control 2019 Group 4

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?

PICO Test 1

Goal: have PICO detect the exit, and perform simple motion towards it.

PICO Test 2

Goal: use a more advanced algorithm to detect and move.

PICO Test 3

Goal: test ideas that were previously generated but would only be useful for the final competition.