Embedded Motion Control/Corridor competition 2015: Difference between revisions

From Control Systems Technology Group
Jump to navigation Jump to search
No edit summary
No edit summary
Line 1: Line 1:
An intermediate review will be held on May 13th, 8.45h at the RoboCup soccer field. During this challenge, called the ''corridor competition'' the students have to let the robot drive through a corridor and then take the first exit. The precise location of this exit will not be given in advance. Some facts:
An intermediate review will be held on May 13th, 8.45h at the RoboCup soccer field. During this challenge, called the ''corridor competition'' the students have to let the robot drive through a corridor and then take the first exit. The precise location of this exit will not be given in advance. Some facts:


* The exit can be either left or right
* The corridor:
* It is not known beforehand how far the exit is located from the start (somewhere between 1 and 10 meters)
** The exit can be either left or right
* The opposing end wall (on the far end) will be open
** It is not known beforehand how far the exit is located from the start (somewhere between 1 and 10 meters)
* The walls are approximately parallel to each other
** The opposing end wall (on the far end) will be open
** '''Note:''' the walls might not be perfectly straight
** The walls are approximately parallel to each other
* The distance between the walls is not known in advance, but will be reasonable (somewhere between 0.5 and 1.5 meters).
*** '''Note:''' the walls might not be perfectly straight
** The distance between the walls is not known in advance, but will be reasonable (somewhere between 0.5 and 1.5 meters).
** The distance between the walls will be fairly constant throughout the corridor, 'fairly' meaning that we build the corridor by hand, and the distance may change a little along the corridor.
** The distance between the walls will be fairly constant throughout the corridor, 'fairly' meaning that we build the corridor by hand, and the distance may change a little along the corridor.
* PICO will start with its laser range finder between the walls
** At the exit, the finish line is located '''approximately''' 30 cm from the side of the corridor (Notice: '''approximately''', so don't just drive forward for ''30'' cm!). The walls that can be used to align PICO will be a little bit longer.
* PICO will be '''approximately''' facing the end of the corridor. (Notice: '''approximately''', so don't just drive forward for ''n'' seconds!)
* Start, goal and limits:
* At the exit, the finish line is located '''approximately''' 30 cm from the side of the corridor (Notice: '''approximately''', so don't just drive forward for ''30'' cm!). The walls that can be used to align PICO will be a little bit longer.
** PICO will start with its laser range finder between the walls
* You have finished the assignment if PICO did not drive into walls, took the correct turn and the entire rear wheel is across the finish line.
** PICO will be '''approximately''' facing the end of the corridor. (Notice: '''approximately''', so don't just drive forward for ''n'' seconds!)
* Try not to touch the wall! Slightly touching is OK, however, bumping (''i.e.'', driving head-on into a wall) '''is not allowed'''! If PICO hits the wall, '''we''' decide whether it count as ''bumping''. IF PICO ''bumps'' into the wall, that trial ends immediately.
** You have finished the assignment if PICO did not drive into walls, took the correct turn and the entire rear wheel is across the finish line.
* Every team has two trials (= max one restart). A trial ends if:
** Maximum speed (is limited in PICO): 0.3 m/s translational, 1.0 rad/s rotational
** PICO ''bumps'' into the wall
* Scoring:
** PICO has not moved or has not made sensible movements (as judged by the tutors) for 30 seconds
** Try not to touch the wall! Slightly touching is OK, however, bumping (''i.e.'', driving head-on into a wall) '''is not allowed'''! If PICO hits the wall, '''we''' decide whether it count as ''bumping''. IF PICO ''bumps'' into the wall, that trial ends immediately.
** The total time limit of 5 minutes per group is reached
** Every team has two trials (= max one restart). A trial ends if:
** The group requests a restart (on the first trial)
*** PICO ''bumps'' into the wall
* restart means:
*** PICO has not moved or has not made sensible movements (as judged by the tutors) for 30 seconds
** PICO restarts at the beginning of the corridor
*** The total time limit of 5 minutes per group is reached
** MAZE time (= time used for scoring) is reset, BUT
*** The group requests a restart (on the first trial)
** TOTAL time keeps running
** restart means:
* Every team has a total of 5 minutes
*** PICO restarts at the beginning of the corridor
* No second attempt is first attempt was successful
*** MAZE time (= time used for scoring) is reset, BUT
*** TOTAL time keeps running
** Every team has a total of 5 minutes
** No second attempt is first attempt was successful

Revision as of 14:57, 7 May 2015

An intermediate review will be held on May 13th, 8.45h at the RoboCup soccer field. During this challenge, called the corridor competition the students have to let the robot drive through a corridor and then take the first exit. The precise location of this exit will not be given in advance. Some facts:

  • The corridor:
    • The exit can be either left or right
    • It is not known beforehand how far the exit is located from the start (somewhere between 1 and 10 meters)
    • The opposing end wall (on the far end) will be open
    • The walls are approximately parallel to each other
      • Note: the walls might not be perfectly straight
    • The distance between the walls is not known in advance, but will be reasonable (somewhere between 0.5 and 1.5 meters).
    • The distance between the walls will be fairly constant throughout the corridor, 'fairly' meaning that we build the corridor by hand, and the distance may change a little along the corridor.
    • At the exit, the finish line is located approximately 30 cm from the side of the corridor (Notice: approximately, so don't just drive forward for 30 cm!). The walls that can be used to align PICO will be a little bit longer.
  • Start, goal and limits:
    • PICO will start with its laser range finder between the walls
    • PICO will be approximately facing the end of the corridor. (Notice: approximately, so don't just drive forward for n seconds!)
    • You have finished the assignment if PICO did not drive into walls, took the correct turn and the entire rear wheel is across the finish line.
    • Maximum speed (is limited in PICO): 0.3 m/s translational, 1.0 rad/s rotational
  • Scoring:
    • Try not to touch the wall! Slightly touching is OK, however, bumping (i.e., driving head-on into a wall) is not allowed! If PICO hits the wall, we decide whether it count as bumping. IF PICO bumps into the wall, that trial ends immediately.
    • Every team has two trials (= max one restart). A trial ends if:
      • PICO bumps into the wall
      • PICO has not moved or has not made sensible movements (as judged by the tutors) for 30 seconds
      • The total time limit of 5 minutes per group is reached
      • The group requests a restart (on the first trial)
    • restart means:
      • PICO restarts at the beginning of the corridor
      • MAZE time (= time used for scoring) is reset, BUT
      • TOTAL time keeps running
    • Every team has a total of 5 minutes
    • No second attempt is first attempt was successful