Embedded Motion Control/Maze competition 2015

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The final competition will be held on June 17, 8.45h 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:
    • Wed June 17, 8.45h - 10.30h
    • 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 axis-aligned, meaning all angles are 90 degrees. Approximately means: built by hand, so slight differences may occur.
    • Open spaces may occur
    • There may be loops in the maze, which means that some walls may not be connected to other walls.
  • 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 0.3 m/sand maximum rotational velocity of 1.0 rad/s
  • Doors:
    • There is exactly 1 door in the maze
    • The door will be situated at a dead end, a dead end being defined as a piece of wall with minimum length 0.5 and maximum length 1.5 with side-walls of at least 0.3 meter length.
    • The might be multiple dead ends in the maze, one of which is a door
    • You need to pass the door to solve the maze
    • The door will open if and only if the following conditions are met:
      • PICO is located within 1.3m distance from the door (i.e., no part of PICO is located outside the 1.3m range)
      • PICO is not driving, i.e., the commanded velocity is 0 (both translational and rotational)
      • PICO asks to open the door. This will become available from the io-layer, e.g.,:
        io.requestOpenDoor()
    • If these conditions are met:
      • The door will start sliding open within 2 seconds since PICO's request
      • The door will slide open to the left or to the right
      • The door slides open at approximately constant velocity
      • The door is fully open within 5 seconds since PICO's request
  • 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