Embedded Motion Control/Maze competition 2015

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The final competition will be held on June 27th, 13.45h at the RoboCup soccer field. The goal of this competition is to let PICO autonomously drive through a maze and find the exit. Some facts:

  • Where and when:
    • Fri June 27, 13.45h - 15.30h
    • Location: RoboCup Soccer field, GEM-N
  • Maze characteristics:
    • Exact location of the entrance and exit are unknown, but they will be on the boundaries of the maze
    • walls are approximately parallel to each other
    • distance between walls is approximately constant throughout the maze, and large enough for the robot to perform complete rotation without hitting the walls
    • There may be corners, T-junctions and crossings (+)
    • There will NOT be any loops in the maze
  • Arrows:
    • On some T-junctions there is an arrow pointing to the side that leads to the exit (either left or right, and the arrow will never point in wrong direction)
    • Arrows are located on the highest point of the wall, i.e., clearly visible for the camera
  • Start, goal and limits:
    • PICO will start with its laser range finder within the boundaries of the maze
    • You have finished the assignment if PICO did not drive into walls, found the exit and the entire rear wheel is across the finish line.
    • There will be a maximum translational velocity of 0.2 m/s (X and Y combined!) and maximum rotational velocity of 1.0 rad/s
  • Scoring:
    • You have 2 attempts (= maximum one restart)
    • restart means:
      • PICO restarts at beginning of maze
      • MAZE time (= time used for scoring) is reset, BUT
      • TOTAL time keeps running
    • You have a total of 7 minutes for both attempts
    • Hit wall = that attempt fails
    • PICO standing still for 30 seconds = that attempt fails
    • No second attempt if first attempt was successful