Embedded Motion Control 2017 Group 3

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Group Members

1032791 Ayisha wafa ayisha.wafa@student.tue.nl
0980790 Aparnasri Sekar @student.tue.nl
0976940 Nick Peters @student.tue.nl
0976467 Jelte Borsboom @student.tue.nl
Tutor Wouter Kuijpers w.j.p.kuijpers@tue.nl

Documents

Here given is the initial design document namely, File:Emc-design-specification.pdf that points the approaches taken towards problem, algorithms used and system design for the robot to navigate through maze and find the exit autonomously.

The slides for the initial design presentation can be found here: File:Group3 2017 Initial design presentation.pdf

Overview

This article presents a summary of the software design to solve the following challenges with the Pico robot.

  1. Corridor competition: To follow a corridor and take the first exit.
  2. Maze competition: To solve and exit an unknown maze.

The project is divided in the following aspects:

  1. Requirements
  2. Specifications
  3. Functions
  4. Components
  5. Interfaces

Requirements

After brainstorming section, requirements are listed for our robot (PICO) to complete maze successfully and is as follows:

  1. PICO may not touch the walls or any other obstacle in the maze at any time
  2. PICO must operate fully autonomous (i.e. without input from the team)
  3. PICO may not be idle for more than 3 seconds from the start of program unless it has passed the exit
  4. PICO must be able to detect available space using the Laser Range Finder (LRF) and move to the detected space according to the motion planning algorithm
  5. PICO must be able to find the exit in finite time (≤ 7 sec for maze and ≤ 5 sec for corridor.)
  6. PICO must be able to detect the objects (dead ends) that have a high probability of being a door
  7. PICO must be able to open the door in the maze and pass through it

Functions

The functions are separate modules called supervisors where, the supervisor unknown of what is inside the other supervisor. This approach makes software architecture simpler, it is also easier to edit and error count will be less since no direct interaction of modules. Supervisors are listed below:

  1. Path-finding Supervisor
  2. Door Handling Supervisor
  3. Wall / Path Detection
  4. Motion Supervisor
  5. Actuator Supervisor

Path-finding Supervisor

1-Pledge Algorithm: Takes in the extracted wall information as input and sets a movement goal for the PICO and move towards it. This algorithm is useful when the robot is challenged to solve loop inside the maze. The algorithm functions as a continuous loop. (Maze challenge)

2- Cornering: Take the corner using the wall information as input. (Corridor challenge)

Door Supervisor

1-Ring Bell Ring the bell if it detect the door possible deadends

2-Standstill Wait for 5 sec to for the door openingsequence.

Wall / Path Detection

1-Read LRF data Gets raw data from the LRF sensor

2-Filter LRF data Reduces noise from raw LRF data and splits it into 3 directions (left, right and front).