Mobile Robot Control 2021 Group 5
Team members
Jaap van der Stoel - 0967407
Roel van Hoof - 1247441
Remco Kuijpers - 1617931 - r.kuijpers1@student.tue.nl - 0611135100
Timo de Groot - 1629352 - t.d.groot2@student.tue.nl - 0637139510
Roy Schepers - 0996153 - r.j.m.schepers@student.tue.nl - 0631329826
Arjan Klinkenberg - 1236143 - a.m.klinkenberg@student.tue.nl
Design document
- The Design Document: File:Design Document Group 5.pdf
Escape Room Challenge
Strategy
At The start of the escape room challange, The PICO searches for the closest wall. It then drives to this wall and allignes itself sideways to the wall. The PICO then drives straight ahead until either another wall, or the exit, is detected. In the first case the PICO rotates to align itself with the new wall and drives forwards again. In the second case the PICO rotates to align with the exit and then drives through the corridor o the finish line.
Implementation
Starting and finding nearest wall
=== Aligning to The walls + turning ===
As PICO has driven to a wall, it has to align itself to the wall. To do so, laser range finder data is used. The laser range finder should return the same distance at coefficients 0 and 220 for PICO to be alligned to the wall. In Figure 3 it can be seen how the laser range finder coefficients are defined. As previously mentioned, PICO has driven to a nearby wall. Afterwards, it rotating quickly, until the laser range finder data of coefficients 0 and 220 ratio is less than 0.2. Then it starts rotating slowly, until the laser range finder data of coefficients 0 and 220 ratio is less than 0.04. If this is the case, it is assumed PICO is alligned to the wall.