Embedded Motion Control 2018 Group 3

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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:
    • Laser Range Finder (LRF)
    • Wheel encoders (odometry)
  • Actuator:
    • Holonomic base (omni-wheels)
  • Computer:
    • Intel i7
    • 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