Embedded Motion Control 2019 Group 4

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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

Minutes

Ideas Escape room

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

Plan

Exit recognition

Firstly walls are created from the lrf data. Next, these small walls are merged into large walls.

Split merge1.png

[File:Split_merge2.png]

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.

Finite state machine

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