Embedded Motion Control 2014 Group 4
Members of group 4
| Khy, R.N. | Norent |
| Kiriouchine, V.I. | Seva |
| Kiuijk, F.J.M. van | Fransis |
| Marx, S. | Sanne |
| Smit, J. | Jorrit |
Planning
Week 1:
-Introduction Lecture
-determine course goals
Week 2:
-Install Ubuntu, ROS, fix SVN etc.: get everything up and running
-Finish all tutorials: C++, ROS
-Think of first concepts to tackle the corridor problem
-Implement first concepts: wallfinder, angle/distance controller
Week 3:
-Improve angle/distance controller
-Try to implement holonomic concept
-Meet tutor to discuss problems and project progress
-Perform Pico Test
Week 4:
...
-Corridor competition
Log
Week 2:
Monday 28-04-2014: Group meeting SEL/SOL
Present: Sanne, Seva, Norent, Fransis
-Installed all software on laptops
-Got the svn up and running
-Started with tutorials and discussed problems
Wednesday 30-04-2014: Meeting SEL/SOL
Present: Sanne, Fransis
-Finished tutorials
Friday 02-05-2014: Meeting OGO 2
Present: Sanne, Seva, Norent, Fransis
-Created concepts: wallFinder, angle/distance controller, exitFinder, Cornering
-Implemented the following concepts: wallFinder, angle/distance controller:
Pico now can detect walls and navigate through the corridor, not controlled optimal yet
Week 3:
Wednesday 07-05-2014: Group meeting OGO 18
Present: Sanne, Seva, Norent, Fransis
-Held first tutor meeting with Sjoerd
-Created holonomic concept
-Prepared for real world Pico test
Concepts
wallFinder
Pico should be able to recognize walls. This can be done by using the Laser Range Finder. The data received from the Laser Range Finder must be filtered to get useful data that can be used by our controller.
From this sensor we receive an array with distances, 270 degrees around Pico. This array is split in half to represent vision on the left and right side. In these two arrays we search for the smallest distance that is greater than 0.15 m (a part of the vision is blocked by Pico him/her/it-self). Finally the angle at wich these distances are with repsect to Pico are calculated. This function thus finds two distances and two corresponding angles.
Angle/Distance controller
When Pico navigates through the corridor the distances found by the wallFinder are controlled to be equal. Besides the distances, the angles at which these distances are detected should be controlled to be zero. When the closest distances left and right of pico are equal and the angles zero, Pico is oriented in the middle of the corridor oriented in the longitudinal direction, which is exactly what we want.
Holonomic movement
At the tutor meeting it became clear that Pico is equipped with omni-wheels which means holonomic movement is possible. Currently the Pico in the simulator has differential wheels. With omni-wheels the distance can be controlled independent of the angle.
Cornering
We should think of how Pico can recognize and take corners.
findExit
We should think of how Pico can recognize the exit of the corridor so that it stops moving.
Implemented concepts
wallFinder
Angle/Distance controller
Time Table
| Lectures | Group meetings | Mastering ROS and C++ | Preparing midterm assignment | Preparing final assignment | Wiki progress report | Other activities | |
|---|---|---|---|---|---|---|---|
| Week_1_Norent | 2 | ||||||
| Week_1_Seva | 2 | 6 | |||||
| Week_1_Fransis | |||||||
| Week_1_Sanne | 2 | 2 | |||||
| Week_1_Jorrit | |||||||
| Week_2_Norent | 2 | 6 | |||||
| Week_2_Seva | |||||||
| Week_2_Fransis | 2 | 4 | 6 | ||||
| Week_2_Sanne | 2 | 6 | 4 | 0.5 | |||
| Week_2_Jorrit | |||||||
| Week_3_Norent | 5 | 3 | 1 | ||||
| Week_3_Seva | |||||||
| Week_3_Fransis | 7 | ||||||
| Week_3_Sanne | |||||||
| Week_3_Jorrit | |||||||
| Week_4_Norent | |||||||
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| Week_4_Fransis | |||||||
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| Week_5_Norent | |||||||
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| Week_6_Norent | |||||||
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| Week_7_Norent | |||||||
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| Week_8_Norent | |||||||
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| Week_8_Fransis | |||||||
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| Week_9_Norent | |||||||
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| Week_9_Fransis | |||||||
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| Week_10_Norent | |||||||
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| Week_10_Fransis | |||||||
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| Week_10_Jorrit |