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

Deliverables

• Design Document
• Interim presentation

Minutes

• Meeting 1 (2019-04-29)
• Meeting 2 (2019-05-06)
• Meeting 3 (2019-05-08)
• Meeting 4 (2019-05-13)

Ideas Escape room

The following ideas are used for the excecution of the Escape room.

Plan

The initial strategy that is formulated is as follows:

Exit recognition

Firstly walls are created from the lrf data. Next, these small walls are merged into large walls. For this, the 'split and merge' method is used as shown below.

Then the corners are recognized. The 2 different kind of corners are recognized and from the right kind of corners the exit is generated. This is visualised below.

At last, the center point of the exit is calculated together with a point in front of this center point. This point in front is sent to the movement part of the PICO.

Finite state machine

A finite state machine is introduced in order to maintain control over what is happening at all times.

Testing

• PICO Test 1 (2019-05-08) --> Goal: have PICO detect the exit, and perform simple motion towards it.
• PICO Test 2 (2019-05-13) --> Goal: use a more advanced algorithm to detect and move.
• PICO Test 3 (2019-05-16) --> Goal: test ideas that were previously generated but would only be useful for the final competition.

Tips & tricks

Install Qt