Embedded Motion Control 2019 Group 4: Difference between revisions

From Control Systems Technology Group
Jump to navigation Jump to search
m (→‎Homework Assignments: Added information architecture)
Line 22: Line 22:
[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 =
= Meetings =
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?
* Information architecture: all
** Think of how information should flow, see lecture slides 20190501


= PICO Test 1 =
= PICO Test 1 =

Revision as of 15:35, 6 May 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

Meetings

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.

Retrieved from "https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2019_Group_4&oldid=74573"