Embedded Motion Control 2015 Group 4

Authors: T. Cornelissen, T van Bommel, J. H. de Kleuver, M. Oligschläger, B. Hendrikx, P. Rooijakkers, T. Albers

Requirements and function specifications

Problem statement

The software design process starts with a statement of the problem. Although all the details of the assignment are not yet knwon at this point, we can best summarize the statement with the following sentence:

Design the software in C/C++ for the (existing) Pico/Jazz robot that enables to find the exit of an unknown and dynamically changing maze in minimal time.

Requirements

A (draft) list of the requirements contains the following points:

• Exiting the maze in minimal time.
• Avoiding damage of the robot and the environment.
• Robustness of pathfinding algorithm with respect to maze layout.
• Design software using modular approach.
• Implement algorithm using only available hardware and software API's.
• Manage code development with multiple developers.

Existing hardware interfaces

• The Pico/Jazz robot with customized inner workings and a robot operating system with C++ API's.
• A (still unknown) wheelbase layout of which the possible DoF/turning radius is a design constraint.
• A lasersensor and acoustic sensor of which the range-of-visibility is a design constraint.

Unknown design constraints

• Simulation environment for code testing?
• Location of sensors and wheels relative to robot fixed frame?
• What data can we extract form the sensors?
• What does the maze look like? How do the doors operate?

Main focus point in the first two weeks

• Learn basics of C/C++ and software development.
• Determine the layout of the robot and the possibilities of the sensors and wheel structure.
• Become familiar with the integrated development environment.
• Explore the possibilities of th API's (how much postprocessing of the aquired sensor data is necessary and what techniques must be learned?).