Embedded Motion Control 2019 Group 9

Group members

Nicole Huizing | 0859610
Janick Janssen | 0756364
Merijn Veerbeek | 0865670

Design Documents

The Initial Design document can be found here: File:Initial Design Group9.pdf

The powerpoint presentation about the design is in this file: File:Presentation initial design.pdf

The powerpoint presentation about the final design can be found here: File:Presentation final design group9.pdf

Logbook

The composition of group 9 has changed twice. At first, George Maleas decided to quit the course at the 13th of May, two days before the escape room competition. His motive was that he lacked the c++ programming skills to meaningfully contribute to the project. Participating in the course would take a too large investment of his time.

At second, Merijn Floren also quit the course on the 3rd of June. <<MOTIVES>>

The code for the final challenge was written by Janick Janssen, Merijn Veerbeek and Nicole Huizing.

Initial design

<<Mostly based on hospital challenge. Some remarks for escape room challenge can be made.>>

Escape room challenge

Code architecture:

Wall follower

explanation & movie of simulation & movie of real challenge & discussion on approach

Exitfinder

explanation & movie of simulation (do we have something useful?) & discussion on approach

Hospital challenge

Perception

Janicks part. Also simulation movie of updating map possible?

Localization

Merijn

Path planning

To plan Pico's path, use is made of an A* pathplanning algorithm. This method was chosen over Dijkstra's method because it is faster. We will choose a heuristic function that is admissible, so it will be guarenteed that A* will give the shortest path from start to end.