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

The initial strategy that is formulated is as follows:

Strategy escaperoom.png

This plan is updated to gain more insights and control over the different situations that can happen.

[PLAATJE]

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.

Split merge1.png Split merge2.png Split merge3.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.

Ezgif.com-video-to-gif.gif

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.

[PLAATJE]

Testing

The following testing dates are set. Also the goal of each testing date is put behind in order to stay on track of the global planning of the project.

  • 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 improvements done based on competition results. If available, test ideas that were previously generated but would only be useful for the final competition.

Tips & tricks

Install Qt