Embedded Motion Control 2012 Group 2

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Group Members

Name ID number e-mail
T.H.A. Dautzenberg0657673 T.H.A. Dautzenberg
V.J.M. Holten0655090 V.J.M. Holten
D.H.J.M. v.d. Hoogen0662522 D.H.J.M. v.d. Hoogen
B. Sleegers0658013 B. Sleegers
Mail to all


Tutor: Janno Lunenburg

Project Progress


Week 1

  • Installation of Ubuntu, ROS and Eclipse
  • C++ tutorial


Week 2

  • ROS tutorial
  • Meeting 1 with tutor
  • Read Chapter 1 and 4 of Real-Time Concepts for Embedded Systems
  • Made a presentation of Ch. 4 for lecture 2 [Slides]
  • Prepared the lecture about Ch. 4


Week 3

  • ROS tutorials continued
  • Looking up useful information and possible packages on the ros website
  • Formulating an idea to tackle the problem
  • Trying to run and create new packages but running into some problems
  • Presented Ch. 4
  • Extra research regarding the API and Linux scheduler, as requested by Molengraft


Week 4

  • Created a node which makes sure Jazz doesn't collide with the walls
  • Created a node which enables Jazz to make the first left corner
  • Research on different maze solving algorithm's
  • Presented extra research regarding the API and the Linux scheduler briefly


Week 5

  • Trying to create the path detection and autonomously cornering


Components Needed

  • Wall detection
    • Laser scan data: Done!
  • Arrow detection
    • Camera data
  • Path detection (openings in wall and possible driving directions)
    • Laser scan data
  • Mapping (record traveled route and note crossroads) (we will probably not use this anymore)
  • Control center (handels data provided by nodes above and determines the commands sent to the Jazz robot)

Strategy

  • use the laser pointing forward to detect dead-ends, then turn 180 degrees.
  • use lasers pointing left & right to keep the robot in the middle of the path.
  • use lasers pointing 45 degrees left and right to detect corners. If there is a 'jump' in the data, there is a corner. The new and old laserdata are then used to create a setpoint in the middle of the corner to which it will drive. It will then turn left/right 90 degrees and start driving again until it detects a new corner.
  • we will probably use the right turn algorithm.