Embedded Motion Control 2013 Group 10

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Group Name

Team Picobello

Group Members

Name: Student id: Email:
Pepijn Smits 0651350 p.smits.1@student.tue.nl
Sanne Janssen 0657513 s.e.m.janssen@student.tue.nl
Rokus Ottervanger 0650019 r.a.ottervanger@student.tue.nl
Tim Korssen 0649843 t.korssen@student.tue.nl

Positioning

To remain in the center of the corridor and avoid hitting the wall the position is continuously checked and controlled. This is visualized in the picture below. The black area is the wall, the red area is close to the wall and should be avoided and the green area is the area where it is safe to drive. The robot drives forwards until it drives into the red area. Whether the robot is inside the red area is determined directly from the laserdata. If it is in the area it makes a slight turn (about 5 degrees) into direction of the green area and then again drives in forward direction.