Embedded Motion Control 2017 Group 6
Group members
| Student | ID number |
|---|---|
| Ties Hoenselaar | 0857112 |
| Hasan Ilisu | 0852221 |
| Laura de Jong | 0743679 |
| Lars Moormann | 0861223 |
| Bas Straatman | 0777325 |
| Jeroen van der Velden | 0----- |
Tutor: Wouter Houtman
Initial Design
Requirements
In order to achieve the goal, the following requirements have to be met:
- The robot has to drive through any maze complying with specifications
- It has to escape the maze within the time limit
- Collisions with the walls must be avoided
- Doors must be opened
- Doors must be recognized in order to achieve the previous requirement
- The software has to be robust for imperfections in the measurement data and disturbances
- The robot must not be idle for a long period of time
- The robot must not ring the bell too often
- The robot must autonomously solve and navigate through the maze
- The Software must be started with only one executable
Functions
The software must have the following functions in order to meet the requirements and fulfill the goal:
| Function: | Description |
|---|---|
| Drive forward | The robot must drive forward unless something, for
example a wall or a corner, is detected |
| Drive backward | The robot must drive a little bit backward if it is unable to rotate |
| Turn left | Make a 90degree left turn |
| Turn right | Make a 90degree right turn |
| Ring bell | The bell must be rang in order to open the door |
| Localize | The robot has to localize itself in the world model, because the
odometry data isn't that accurate |
| Wait | The robot must wait at a dead end in order to check if it is a
door |
Components
The following components will be used to reach the goal:
Sensors
- Laser range finder which uses a laser beam to determine the distance to an object
- Wheel encoders (odometry) to estimate the position of the robot relative to a starting location
Actuators
- Holonomic base with omni-wheels
- Bell to open the door
- Pan-tilt unit for head (which will not be used)
Computer
- Intel I7
- Ubuntu 14.04
Specifications
The goal and the requirements will be achieved with the following specifications:
Robot
- The maximum transnational speed of the robot is 0.5 m/s
- The maximum rotational speed equals 1.2 rad/s
- The corridor challenge has to be solved in 5 minutes
- The maze challenge has to be solved in 7 minutes
- Both challenges have a maximum of two trials
- The laser range finder (LRF) has a range of 270 degrees
- The wheel encoders have an unknown accuracy
- The robot must not be idle for more than 30 seconds
Maze
- The corners will be approximately 90 degrees
- The wall distance is 0.5-1.5 meter
- There is only 1 door in the maze
- The door starts opening in 2 seconds
- The door opens if the robot is within 1.3 meter of the door
- The door is open in 5 seconds
- The number of rings must not be larger than the number of potential doors
- The maze may contain loops
- The maze can contain dead ends
Interfaces
The main relations between the interfaces are colored red and can be described as follows:
World model -> Task:
World model -> Skill:
World model -> Motion:
World model -> User interface: The user interface needs the data from the world model to visualize
Task -> World model:
Skill -> World model :
Motion -> World model :