Embedded Motion Control 2019 Group 4
This is the CSTWiki page for group 4 of Embedded Motion Control 2019.
Group members
| Marcel Bosselaar | 0906127 |
| Ruben Sommer | 0910856 |
| Jeroen Setz | 0843356 |
| Bram Grolleman | 0757428 |
| Martijn Tibboel | 0909136 |
Tips & tricks
Meeting 1 - 2019/04/29
First group meeting, mostly used for figuring out Ubuntu and the installations, and setting up correct requirements and functions.
Requirements
- PICO may not bump into walls
- PICO may not stay stationary for more than 30 seconds
- PICO must have exited the room in under 5 minutes
- PICO may not move at more than 0.5m/s in translational directions and 1.2rad/s rotational
Functions
- PICO should be able to scan the room
- PICO should be able to recognize an exit
- PICO should be able to drive toward the exit
- PICO should be able to drive through the exit
- PICO should be able to stop after driving through the exit
Additional functions
- PICO should be able to remember what he has seen
- PICO should function in an arbitrary environment
- PICO should be able to keep a safe distance from walls
Error is present on wheel encoders.
Don't look at individual points, but at sets of points. Laser data is relatively high-quality. Record data for future reference.
Figure out what datastructures are generated and required by different functionalities.
Steps:
- Look for exit
- Recognize exit
- Move to exit
- Move through exit
- Stop at end of exit
Check emc::speak or emc.speak, SSH into PICO, log console output
Homework Assignments
- Vision: Martijn, Marcel, Ruben
- Recognize door
- Move to different point if not recognized
- Output: corner points of exit
- Trajectory planning: Bram, Jeroen
- Input: corner points of exit
- Determine optimal trajectory (linear, spline, other)
- Line up with exit
- Incorporate collision avoidance?
- Information architecture: all
- Think of how information should flow, see lecture slides 20190501
PICO Test 1
Goal: have PICO detect the exit, and perform simple motion towards it.
PICO Test 2
Goal: use a more advanced algorithm to detect and move.
PICO Test 3
Goal: test ideas that were previously generated but would only be useful for the final competition.