https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2017_Group_4&feed=atom&action=historyEmbedded Motion Control 2017 Group 4 - Revision history2024-03-29T09:54:03ZRevision history for this page on the wikiMediaWiki 1.39.5https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2017_Group_4&diff=60805&oldid=prevS144985: /* Result */2018-06-20T17:44:33Z<p><span dir="auto"><span class="autocomment">Result</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The most important conclusion for us during the challenge was that we needed time to tune our parameters and remove small bugs from our code. This realization resulted in a discussion which drove our further design into a simpler direction in order to have enough time to robustly test the system. </div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The most important conclusion for us during the challenge was that we needed time to tune our parameters and remove small bugs from our code. This realization resulted in a discussion which drove our further design into a simpler direction in order to have enough time to robustly test the system. </div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>[[File:Corridor_group4_2.gif|thumb|center|<del style="font-weight: bold; text-decoration: none;">800px</del>|Attempt 1 of the corridor challenge]]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>[[File:Corridor_group4_2.gif|thumb|center|<ins style="font-weight: bold; text-decoration: none;">1100px</ins>|Attempt 1 of the corridor challenge]]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= '''Final design''' =</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= '''Final design''' =</div></td></tr>
</table>S144985https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2017_Group_4&diff=44604&oldid=prevS124755: /* Door Recognition */2017-06-21T21:27:19Z<p><span dir="auto"><span class="autocomment">Door Recognition</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Each node is checked in sequence. A connection is thus always added "backwards", connecting the node checked to the previous one by modifying the ''Connections'' variable of both.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Each node is checked in sequence. A connection is thus always added "backwards", connecting the node checked to the previous one by modifying the ''Connections'' variable of both.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>=== Door <del style="font-weight: bold; text-decoration: none;">Recognition </del>===</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>=== Door <ins style="font-weight: bold; text-decoration: none;">recognition </ins>===</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The doors are recognized based on the end- and cornernodes. It is known in advance that the node numbers are ordered depending on the angle of the LRF. The first node lies at the lowest recognizable angle, the last node at the highest recognizable angle. Based on this we can do several checks to see if a door should be recognized. The door check is done with a for-loop over the first to the fourth last nodes. This is because four nodes are required to check if it is a door. Let’s consider a certain node that needs to be checked, then the three following nodes are also considered to determine whether these four nodes make a door. </div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The doors are recognized based on the end- and cornernodes. It is known in advance that the node numbers are ordered depending on the angle of the LRF. The first node lies at the lowest recognizable angle, the last node at the highest recognizable angle. Based on this we can do several checks to see if a door should be recognized. The door check is done with a for-loop over the first to the fourth last nodes. This is because four nodes are required to check if it is a door. Let’s consider a certain node that needs to be checked, then the three following nodes are also considered to determine whether these four nodes make a door. </div></td></tr>
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</table>S124755https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2017_Group_4&diff=44603&oldid=prevS124755: /* Wall Recognition */2017-06-21T21:27:10Z<p><span dir="auto"><span class="autocomment">Wall Recognition</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Several tunable parameters are associated with the node recognition, which mostly deal with margins associated to the ways nodes are recognized. For example, a tunable parameter exists for the minimum distance two nodes need to be apart in order for the data point to be considered an endnode. A complete list with description is also available in ''worldmodel.h''.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Several tunable parameters are associated with the node recognition, which mostly deal with margins associated to the ways nodes are recognized. For example, a tunable parameter exists for the minimum distance two nodes need to be apart in order for the data point to be considered an endnode. A complete list with description is also available in ''worldmodel.h''.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>=== Wall <del style="font-weight: bold; text-decoration: none;">Recognition </del>===</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>=== Wall <ins style="font-weight: bold; text-decoration: none;">recognition </ins>===</div></td></tr>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In order to recognize whether nodes are connected the LRF index of the subsequent nodes is checked in order to see whether nodes are set at subsequent indexes of the LRF data. Two nodes can only have subsequent LRF indexes when the are separated by a large distance because of both the SPIKE check which compares distances, and a tunable parameter which determines the allowed overlap of nodes. Thus the nodes are not connected when the check is true.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In order to recognize whether nodes are connected the LRF index of the subsequent nodes is checked in order to see whether nodes are set at subsequent indexes of the LRF data. Two nodes can only have subsequent LRF indexes when the are separated by a large distance because of both the SPIKE check which compares distances, and a tunable parameter which determines the allowed overlap of nodes. Thus the nodes are not connected when the check is true.</div></td></tr>
</table>S124755https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2017_Group_4&diff=44602&oldid=prevS124755: /* Node Recognition */2017-06-21T21:27:02Z<p><span dir="auto"><span class="autocomment">Node Recognition</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* LRFindex (int): Index in the LRF scan of the particular data point corresponding to the current node. It is mainly used to determine the connection vector.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* LRFindex (int): Index in the LRF scan of the particular data point corresponding to the current node. It is mainly used to determine the connection vector.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>=== Node <del style="font-weight: bold; text-decoration: none;">Recognition </del>===</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>=== Node <ins style="font-weight: bold; text-decoration: none;">recognition </ins>===</div></td></tr>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:noderecogviz.png|thumb|right|upright=2.0|Visualization of the node recognition. Corner nodes are shown in white and end nodes are shown in red. PICO is the red block in the middle.]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:noderecogviz.png|thumb|right|upright=2.0|Visualization of the node recognition. Corner nodes are shown in white and end nodes are shown in red. PICO is the red block in the middle.]]</div></td></tr>
</table>S124755https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2017_Group_4&diff=44601&oldid=prevS124755: /* Functions */2017-06-21T21:25:16Z<p><span dir="auto"><span class="autocomment">Functions</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Filter data:''' Moving average filter to minimize noise.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Filter data:''' Moving average filter to minimize noise.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>:''Input: noisy data, Output: averaged data.''</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>:''Input: noisy data, Output: averaged data.''</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* '''Finish:''' Recognizes that the finish line has been crossed and that <del style="font-weight: bold; text-decoration: none;">Pico </del>can stop searching for the exit. The main script can be terminated.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* '''Finish:''' Recognizes that the finish line has been crossed and that <ins style="font-weight: bold; text-decoration: none;">PICO </ins>can stop searching for the exit. The main script can be terminated.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>:''Input: World model, Output: -''</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>:''Input: World model, Output: -''</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Strategy:''' Gives a general direction based on the maze solving algorithm that is chosen.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* '''Strategy:''' Gives a general direction based on the maze solving algorithm that is chosen.</div></td></tr>
</table>S124755https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2017_Group_4&diff=44599&oldid=prevS124755: /* Conclusion and recommendation */2017-06-21T21:24:33Z<p><span dir="auto"><span class="autocomment">Conclusion and recommendation</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Looking back on the project, it can be concluded that most decisions were well chosen. Deciding that the wall-following algorithm and Pledge should not depend on the world model was a good way to split up the work without making groups dependent on each other. Because of this, small groups of two people could work together and were responsible for a certain part of the code.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Looking back on the project, it can be concluded that most decisions were well chosen. Deciding that the wall-following algorithm and Pledge should not depend on the world model was a good way to split up the work without making groups dependent on each other. Because of this, small groups of two people could work together and were responsible for a certain part of the code.</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>Making the two parts not dependent on each other has the benefit that the two parts could be developed completely independent of each other. The downside is that the world model has a less important role in solving the maze. Making the algorithm dependent on the world model could make the whole more robust, since the world model only uses select data to reconstruct the maze. For instance, a small gap between two walls could now have given quite a problem. If the wall-follower would depend on the world model, then two nodes were simple connected which would then be seen as a wall. If there would be a small gap, the robot would ignore this completely. Note that with the current world model, this extension can easily be made. However, if the world model does not function very well and for example mis places a corner node, you have a big problem. We experienced this during the corridor challenge, where a small bug in the world model code resulted in driving past the corridor. Fortunately, <del style="font-weight: bold; text-decoration: none;">Pico </del>still found the corridor due to the fact that the repulsion pushed him toward the gap in the wall.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>Making the two parts not dependent on each other has the benefit that the two parts could be developed completely independent of each other. The downside is that the world model has a less important role in solving the maze. Making the algorithm dependent on the world model could make the whole more robust, since the world model only uses select data to reconstruct the maze. For instance, a small gap between two walls could now have given quite a problem. If the wall-follower would depend on the world model, then two nodes were simple connected which would then be seen as a wall. If there would be a small gap, the robot would ignore this completely. Note that with the current world model, this extension can easily be made. However, if the world model does not function very well and for example mis places a corner node, you have a big problem. We experienced this during the corridor challenge, where a small bug in the world model code resulted in driving past the corridor. Fortunately, <ins style="font-weight: bold; text-decoration: none;">PICO </ins>still found the corridor due to the fact that the repulsion pushed him toward the gap in the wall.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The Pledge algorithm itself worked as desired, but it is of course not the fastest way to solve a maze. The simplicity of this algorithm however makes it very suitable for this project due to the time available. If more time was available after the maze challenge, then more difficult algorithms such as Trémaux could be considered. </div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The Pledge algorithm itself worked as desired, but it is of course not the fastest way to solve a maze. The simplicity of this algorithm however makes it very suitable for this project due to the time available. If more time was available after the maze challenge, then more difficult algorithms such as Trémaux could be considered. </div></td></tr>
</table>S124755https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2017_Group_4&diff=44598&oldid=prevS124755: /* Repulsion & wall following */2017-06-21T21:23:46Z<p><span dir="auto"><span class="autocomment">Repulsion & wall following</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 22:23, 21 June 2017</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Repulsion & wall following ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Repulsion & wall following ==</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>How the repulsion and angle correction are working is already explained in the section Corridor challenge. The final repulsion and angle correction are not changed very much in the final design, only some values are tuned. The wall follower is added in the final design, which makes sure <del style="font-weight: bold; text-decoration: none;">Pico </del>stays at a desired distance from the wall. The wall follower is implemented as a virtual spring. When <del style="font-weight: bold; text-decoration: none;">Pico </del>is too close to the wall, the repulsion becomes very high and <del style="font-weight: bold; text-decoration: none;">Pico </del>will be pushed from the wall. When <del style="font-weight: bold; text-decoration: none;">Pico </del>is too far from the wall, the virtual spring will give a force. Therefore, <del style="font-weight: bold; text-decoration: none;">Pico </del>will be pulled to the wall. Between the repulsion and virtual spring is some threshold, such that the forces are zero in that area. This makes sure that <del style="font-weight: bold; text-decoration: none;">Pico </del>does not correct itself the whole time.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>How the repulsion and angle correction are working is already explained in the section Corridor challenge. The final repulsion and angle correction are not changed very much in the final design, only some values are tuned. The wall follower is added in the final design, which makes sure <ins style="font-weight: bold; text-decoration: none;">PICO </ins>stays at a desired distance from the wall. The wall follower is implemented as a virtual spring. When <ins style="font-weight: bold; text-decoration: none;">PICO </ins>is too close to the wall, the repulsion becomes very high and <ins style="font-weight: bold; text-decoration: none;">PICO </ins>will be pushed from the wall. When <ins style="font-weight: bold; text-decoration: none;">PICO </ins>is too far from the wall, the virtual spring will give a force. Therefore, <ins style="font-weight: bold; text-decoration: none;">PICO </ins>will be pulled to the wall. Between the repulsion and virtual spring is some threshold, such that the forces are zero in that area. This makes sure that <ins style="font-weight: bold; text-decoration: none;">PICO </ins>does not correct itself the whole time.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Taking turns ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Taking turns ==</div></td></tr>
</table>S124755https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2017_Group_4&diff=44597&oldid=prevS124755: /* Maze solving algorithm */2017-06-21T21:22:53Z<p><span dir="auto"><span class="autocomment">Maze solving algorithm</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 22:22, 21 June 2017</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The Pledge algorithm is chosen to solve te maze. The pledge algorithm has a preferred direction and counts the corners the robot takes. A left turn counts as -1 and a right turn as +1. When the counter is 0, the robot goes in its preferred direction. The pledge algorithm is implemented in the following manner:</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The Pledge algorithm is chosen to solve te maze. The pledge algorithm has a preferred direction and counts the corners the robot takes. A left turn counts as -1 and a right turn as +1. When the counter is 0, the robot goes in its preferred direction. The pledge algorithm is implemented in the following manner:</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* If <del style="font-weight: bold; text-decoration: none;">Pico </del>is driving in preferred direction: </div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* If <ins style="font-weight: bold; text-decoration: none;">PICO </ins>is driving in preferred direction: </div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>** if space_top = true: Go straight in preferred direction</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>** if space_top = true: Go straight in preferred direction</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>** if space_top = false & space_left = true: rotate 90 degrees left</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>** if space_top = false & space_left = true: rotate 90 degrees left</div></td></tr>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>** if space_right = false & space_top = false & space_left = false: rotate 180 degrees left</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>** if space_right = false & space_top = false & space_left = false: rotate 180 degrees left</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>In Figure 3 <del style="font-weight: bold; text-decoration: none;">Pico </del>is depicted with three beams: space_left, space_right and space_top. All beams are using only 5 degrees of LRF-data.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>In Figure 3 <ins style="font-weight: bold; text-decoration: none;">PICO </ins>is depicted with three beams: space_left, space_right and space_top. All beams are using only 5 degrees of LRF-data.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:spring.png|thumb|right|upright=0.7]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:spring.png|thumb|right|upright=0.7]]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
</table>S124755https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2017_Group_4&diff=44596&oldid=prevS124755: /* Space recognition */2017-06-21T21:22:13Z<p><span dir="auto"><span class="autocomment">Space recognition</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 22:22, 21 June 2017</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Space recognition ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Space recognition ==</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:space_recognition_v2.png|thumb|right|500px|Figure 3:Space recognition]] </div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:space_recognition_v2.png|thumb|right|500px|Figure 3:Space recognition]] </div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>This function determines whether there is space or an obstacle to the left, right and top of <del style="font-weight: bold; text-decoration: none;">Pico</del>. In the config file, the beam width is determined in degrees. This value is converted to radians and used to determine which LRF data points should be checked.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>This function determines whether there is space or an obstacle to the left, right and top of <ins style="font-weight: bold; text-decoration: none;">PICO</ins>. In the config file, the beam width is determined in degrees. This value is converted to radians and used to determine which LRF data points should be checked.</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>As can be seen in the figure, there are 3 beams to be measured: left of <del style="font-weight: bold; text-decoration: none;">Pico</del>, above and to the right of <del style="font-weight: bold; text-decoration: none;">Pico</del>. By default, all spaces are defined true. If one measured LRF point is below the threshold value, indicated with an orange circle, the space_x variable will be set false.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>As can be seen in the figure, there are 3 beams to be measured: left of <ins style="font-weight: bold; text-decoration: none;">PICO</ins>, above and to the right of <ins style="font-weight: bold; text-decoration: none;">PICO</ins>. By default, all spaces are defined true. If one measured LRF point is below the threshold value, indicated with an orange circle, the space_x variable will be set false.</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>The threshold for the forward distance can be tuned independently of the others. The forward distance is slightly smaller than the other distances. This means that <del style="font-weight: bold; text-decoration: none;">Pico </del>will detect an obstacle in front of him later and will react later to this. This way a better wallfollowing can be realized.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>The threshold for the forward distance can be tuned independently of the others. The forward distance is slightly smaller than the other distances. This means that <ins style="font-weight: bold; text-decoration: none;">PICO </ins>will detect an obstacle in front of him later and will react later to this. This way a better wallfollowing can be realized.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The function needs the scan information from the LRF as an input and will output the variables space_left, space_top and space_right.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The function needs the scan information from the LRF as an input and will output the variables space_left, space_top and space_right.</div></td></tr>
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</table>S124755https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2017_Group_4&diff=44594&oldid=prevS124755: /* Interface */2017-06-21T21:21:38Z<p><span dir="auto"><span class="autocomment">Interface</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 22:21, 21 June 2017</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>'''Skill'''</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>'''Skill'''</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>The skill part contains the skills of <del style="font-weight: bold; text-decoration: none;">Pico</del>, which are the calculation of the repulsion, the space recognition, the door recognition and the strategy. In the repulsion part, the repulsion forces are calculated using the LRF data. In the space recognition part, it is checked whether there is space to the left, right or front using the LRF data. In the door recognition, the door areas are calculated using the nodes from the World Model. When PICO is in a door area the Boolean 'door detected' will be true. The strategy part gets the boolean vector of the spaces from the task manager. Based on this spaces boolean vector, the strategy part will update the direction and desired state based on the Pledge algorithm.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>The skill part contains the skills of <ins style="font-weight: bold; text-decoration: none;">PICO</ins>, which are the calculation of the repulsion, the space recognition, the door recognition and the strategy. In the repulsion part, the repulsion forces are calculated using the LRF data. In the space recognition part, it is checked whether there is space to the left, right or front using the LRF data. In the door recognition, the door areas are calculated using the nodes from the World Model. When PICO is in a door area the Boolean 'door detected' will be true. The strategy part gets the boolean vector of the spaces from the task manager. Based on this spaces boolean vector, the strategy part will update the direction and desired state based on the Pledge algorithm.</div></td></tr>
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