Embedded Motion Control 2015 Group 4

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Authors: T. Cornelissen, T van Bommel, J. H. de Kleuver, M. Oligschläger, B. Hendrikx, P. Rooijakkers, T. Albers

Requirements and function specifications

Problem statement

The software design process starts with a statement of the problem. Although all the details of the assignment are not yet knwon at this point, we can best summarize the statement with the following sentence:

Design the software in C/C++ for the (existing) Pico/Jazz robot that enables to find the exit of an unknown and dynamically changing maze in minimal time.

Requirements

A (draft) list of the requirements contains the following points:

  • Exiting the maze in minimal time.
  • Avoiding damage of the robot and the environment.
  • Robustness of pathfinding algorithm with respect to maze layout.
  • Design software using modular approach.
  • Implement algorithm using only available hardware and software API's.
  • Manage code development with multiple developers.

Existing hardware interfaces

  • The Pico/Jazz robot with customized inner workings and a robot operating system with C++ API's.
  • A (still unknown) wheelbase layout of which the possible DoF/turning radius is a design constraint.
  • A lasersensor and acoustic sensor of which the range-of-visibility is a design constraint.

Unknown design constraints

  • Simulation environment for code testing?
  • Location of sensors and wheels relative to robot fixed frame?
  • What data can we extract form the sensors?
  • What does the maze look like? How do the doors operate?

Main focus point in the first two weeks

Software design strategy