Embedded Motion Control 2018 Group 3

Group Members

TU/e Number	Name	E-mail
0848904	Luc (L.L.M.) van den Aker	l.l.m.v.d.aker@student.tue.nl
0852908	Thomas (T.) Neilen	t.neilen@student.tue.nl
0909434	Jeroen (J.W.) van de Valk	j.w.v.d.valk@student.tue.nl
0896947	Nourdin (N.) Kaai	n.kaai@student.tue.nl
0883056	Peter (P.) van Dooren	p.v.dooren@student.tue.nl
0861750	Ties (T.J.) van Loon	t.j.v.loon@student.tue.nl

Initial Design

Requirements: - PICO should make no collisions with any walls - PICO cannot stand still for 30 seconds or longer - For the escape room challenge, the robot should leave the room within 5 minutes - For the hospital challenge, within 5 minutes, mapping, reverse parking and obtaining the object should be done - Its surroundings should be made visible in a map - PICO should be able to reach every position in the room - PICO should be able to leave every room - PICO should make distinction between the hall and rooms - It should run autonomously, so in each challenge there should be no additional input - To start your software, only one executable has to be called - PICO should be able to recognize an object and stand still close to it

Functions: - PICO should be able to drive in any direction - PICO should be able to turn around - It should be able to detect walls - PICO has to know its own position within the mapped map - PICO is able to construct a map - It should be possible to create a trajectory to a room - PICO should be able to recognize an object

Components: - Sensors:

  o Laser Range Finder (LRF)
  o Wheel encoders (odometry)

- Actuator:

  o Holonomic base (omni-wheels)

- Computer:

  o Intel i7
  o Ubuntu 16.04

Specifications: - Translation maximum: 0.5 m/s - Rotation maximum: 1.2 rad/s - Range of Laser Range Finder is assumed to be bigger than maximum room dimension - The field of view of the Laser Range Finder is from -2 rad to 2 rad, divided in pieces of 0.004004 - The Laser Range Finder can only measure at one height