Mobile Robot Control 2020 Group 2

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Group members

Marzhan Baubekova - 1426311

Spyros Chatzizacharias - 1467751

Arjun Menaria - 1419684

Joey Verdonschot - 0893516

Bjorn Walk - 0964797

Bart Wingelaar - 0948655

Design Document

Design document for the escape room challenge can be found here:

File:Mobile Robot Control Design Document Group2.pdf

Escape Room Challenge

Hospital Challenge

Pathplanning with 2 heuristics. RectularPathPlanning.png


For the selection of the algorithm used for pathplanning a table of pros and cons has been formulated, which inlcudes the computer performance index. A* is given an index number of 100. The walls and Dijkstra compute indices are an educated guess. The others are based on the amount of nodes used in a study https://www.researchgate.net/publication/320774676_Path_Planning_Algorithms_A_comparative_study

Algorithm Compute index
A* 100
Rapidly-exploring random tree 100
Potential field algorithm 40
Dijkstra 100 or higher
Wall following 100000
the one that only spyros had, but i dont remember ?

Path Planning

The algorithm that is chosen for the path planning is an A* algorithm. Before proceeding to algorithm, it is essential to transform map to a binary grid map. This step is done in Matlab and later translated to C++. There are two heuristic functions which are tested, namely diagonal and euclidian.

Localization

Logs

Meeting 1


Date: 28-04-20

Time: 10:00

Platform: MS Teams


Agenda

  • Introduction meeting with the tutor
  • Discuss assignments to be completed
  • Discuss preliminary design and algorithm



Meeting notes

  • The tutor's role is to guide and answer questions. The tutor is present at the weekly meetings.
  • Robot description: the unit of the laserdata distance is [m] and the angle is in radians; the robot is about 40*20cm.
  • Gitlab should be used.
  • Wiki: At the end of every meeting a clear list has to be made of actions that should be done.
  • Important dates and information about the first assignment: The design document should be hanged in on may 4th as PDF and text should not be mentioned on the wiki.
  • Design document is the document that describes how the software will look like, which includes requirements, functions, components, specifications and interfaces.
  • Requirements: robot's speed constraints and etc.

Meeting 2


Date: 01-05-20

Time: 14:00

Platform: MS Teams


Agenda

  • Discuss the progress
  • Discuss the design document

Meeting notes

  • "Specifications and Requirments" section of the document design was discussed
  • Finite State Machine was reviewed
  • Action: meet on Monday (4th of May) to proof-read the report

Meeting 3


Date: 05-05-20

Time: 10:00

Platform: MS Teams


Agenda

  • Questions about odometry data
  • Question on identifying exit
  • Questions on GitHub
  • Discuss work to be done



Meeting notes

  • The robot overshoots on rotating to the right. This is much worse than when rotating to the left.
  • The tutor is going to look into the simulator since it might be a bug in there. He will let us know as soon as possible.
  • Take into account that the exit could be aligned with the sidewall of the room meaning there is only one corner to identify instead of 2.
  • Gitlab tutorial is online and should help us figure it out.
  • Group members have to use git clone to get the master repository on their pc.
  • Slip is not enabled by default. It has to be enabled in the config file when needed in simulation.

Work division

  • Wall following algorithm -> Bjorn and Marzhan
  • Wall finding and exit scanning -> Spyros and Arjun
  • Wall alignment and exit corridor movement -> Bart and Joey

Next meeting

  • Friday, May 8th, 2 pm group meeting on progress (without tutor).
  • Monday, May 11th, 11 am final meeting before escape room challenge (with the tutor).

Meeting 4


Date: 11-05-20

Time: 11:00

Platform: MS Teams


Agenda

  • Discuss problems of code.
  • Question on exit width.

Meeting notes

  • good progress has been made on the initial scanning
  • Joey and Bart had the same section of code.
  • The alligning at the exit can be improved

Work division

  • Exit allignment -> Bjorn and Marzhan and Bart
  • Wall finding and exit scanning -> Spyros and Arjun and Joey

Next meeting

  • not determined yet.

Meeting 5


Date: 18-05-20

Time: 11:00

Platform: MS Teams


Agenda

  • Discuss what went wrong in the Escape room competition.
  • Discuss Hospital Chanllenge.

Meeting notes

  • Code is corrected and escape room is succeeded
  • Brainstorm on hospital challenge
  • Outlining main parts of the hospital challenge

Work division

  • Localization -> Bjorn and Joey and Marzhan
  • Path Planning-> Spyros and Arjun and Bart

Next meeting

  • 22-05-20 at 14:00 without tutor

Meeting 6


Date: 22-05-20

Time: 14:00

Platform: MS Teams


Agenda

  • Discuss algorithm proposed by each subgroup.
  • Discuss possible extention to object detection.

Meeting notes

  • For path planning: A*
  • For localization: particle filter
  • Structure of the algorithm is constructed: main parts such as localization, path planning and object detection communicate through WorldModel and path planning also sends data to driveControl

Work division is the same

  • Localization -> Bjorn and Joey and Marzhan
  • Path Planning-> Spyros and Arjun and Bart

Next meeting

  • 26-05-20 at 11:30 with tutor

Meeting 7


Date: 26-05-20

Time: 11:30

Platform: MS Teams


Agenda

  • Discuss progress in path planning and localization.

Meeting notes

  • For path planning, A* algorithm: advantage of diagonal over euclidian heurisic or vice versa.
  • For localization: split and merge implementation for features extraction.
  • Run localization all the time

Work division is the same

  • Localization -> Bjorn and Joey and Marzhan
  • Path Planning-> Spyros and Arjun and Bart

Next meeting

  • 02-06-20 at 11:00 with tutor??